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

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Carles Fernandez 2019-07-30 09:51:05 +02:00
commit 16a75304a9
785 changed files with 3315 additions and 2559 deletions
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2
.clang-format
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@ -51,7 +51,7 @@ IncludeBlocks: Merge
IncludeCategories: IncludeCategories:
- Regex: '^.*.h"' - Regex: '^.*.h"'
Priority: 1 Priority: 1
- Regex: '^.*(boost|gflags|glog|gnsssdr|gpstk|gtest|gnuradio|pmt|uhd|volk)/' - Regex: '^.*(boost|gflags|glog|gnsssdr|gnuradio|gpstk|gsl|gtest|pmt|uhd|volk)/'
Priority: 2 Priority: 2
- Regex: '^.*(armadillo|matio|pugixml)' - Regex: '^.*(armadillo|matio|pugixml)'
Priority: 2 Priority: 2

2
cmake/Modules/FindGNURADIO.cmake
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@ -58,7 +58,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
message(STATUS "Checking for GNU Radio Module: ${EXTVAR}") message(STATUS "Checking for GNU Radio Module: ${EXTVAR}")
# check for .pc hints # check for .pc hints
pkg_check_modules(PC_GNURADIO_${EXTVAR} ${PCNAME}) pkg_check_modules(PC_GNURADIO_${EXTVAR} QUIET ${PCNAME})
if(NOT PC_GNURADIO_${EXTVAR}_FOUND) if(NOT PC_GNURADIO_${EXTVAR}_FOUND)
set(PC_GNURADIO_${EXTVAR}_LIBRARIES ${LIBFILE}) set(PC_GNURADIO_${EXTVAR}_LIBRARIES ${LIBFILE})

2
cmake/Modules/FindVOLKGNSSSDR.cmake
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@ -30,7 +30,7 @@ endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE) set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig) include(FindPkgConfig)
pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr) pkg_check_modules(PC_VOLK_GNSSSDR QUIET volk_gnsssdr)
find_path(VOLK_GNSSSDR_INCLUDE_DIRS find_path(VOLK_GNSSSDR_INCLUDE_DIRS
NAMES volk_gnsssdr/volk_gnsssdr.h NAMES volk_gnsssdr/volk_gnsssdr.h

30
docs/changelog
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@ -3,17 +3,22 @@
### Improvements in Accuracy ### Improvements in Accuracy
- Local clock correction based on PVT solution (error kept below 1 ms). - Local clock correction based on PVT solution (error kept below 1 ms).
- Fix a bug in broadcast ionospheric parameters usage.
### Improvements in Availability ### Improvements in Availability
- Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes. - Improved mechanism for false lock detection in the Tracking loops.
- Fixed bug in Galileo INAV/FNAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations. - Fixed bug in Galileo INAV/FNAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
- Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
- Fixed PVT computation continuity through the TOW rollover. - Fixed PVT computation continuity through the TOW rollover.
- Improved signal acquisition and tracking mechanisms in high dynamic scenarios.
### Improvements in Efficiency ### Improvements in Efficiency
- Added mechanism for assisted acquisition of signals on a secondary band when the primary has already been acquired. This allows a great reduction of the computational load in multi-frequency configurations.
- Tracking loops now perform bit synchronization, simplifying the decoding process in Telemetry blocks and FPGA-offloading.
- Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel). - Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel).
- Shortened Acquisition to Tracking transition time. - Shortened Acquisition to Tracking transition time.
- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare. - Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare.
@ -21,7 +26,7 @@
### Improvements in Flexibility: ### Improvements in Flexibility:
- Rewritten Control Thread and GNSS Flowgraph for increased control of channels' status and smarter assignation of satellites in multi-band configurations. - Rewritten Control Thread and GNSS flow graph for increased control of channels' status and smarter assignation of satellites in multi-band configurations.
- New Tracking parameters allow the configuration of PLL and DLL filters order. - New Tracking parameters allow the configuration of PLL and DLL filters order.
- Added parameter to enable FLL during pull-in time. - Added parameter to enable FLL during pull-in time.
- Configurable pull-in time in the Tracking loops. - Configurable pull-in time in the Tracking loops.
@ -40,37 +45,44 @@
### Improvements in Maintainability: ### Improvements in Maintainability:
- The internal communication mechanism based on gr::msg_queue has been replaced by a thread-safe, built-in asynchronous message passing system based on GNU Radio's Polymorphic Types. This change is backwards-compatible and prevents from a failure in case of a possible future deprecation or removal of the gr::msg_queue API.
- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65
- CMake turns all policies to ON according to the running version up to version 3.15.
- Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler. - Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler.
- Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare. - Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
- Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier. - Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65 - Massive reduction of warnings triggered by clang-tidy checks.
- The internal communication mechanism based on gr::msg_queue has been replaced by asynchronous message passing. - Throughout code cleaning and formatting performed with automated tools in order to reduce future commit noise.
### Improvements in Portability: ### Improvements in Portability:
- Added interfaces for FPGA off-loading. - Added interfaces for FPGA off-loading in GPS L1 C/A, Galileo E1b/c, GPS L2C, GPS L5 and Galileo E5a receiver chains.
- CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12. - CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12.
- Improvements for macOS users using Homebrew. - Improvements for macOS users using Homebrew.
- The software builds against GNU Radio >= 3.7.3, including 3.8.0. Automatically detected, no user intervention is required.
- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher. - The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher.
- The Boost Filesystem library is not anymore a required dependency in cases where it can be replaced by std::filesystem. Automatically detected, no user intervention is required.
- CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions. - CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions.
- Drawback in portability: Protocol Buffers >= 3.0.0 is a new required dependency.
### Improvements in Reliability ### Improvements in Reliability
- Included the Guidelines Support Library. General improvement of memory management, replacement of raw pointers by containers or smart pointers. - Included the Guidelines Support Library. General improvement of memory management, replacement of raw pointers by containers or smart pointers.
- Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp. - Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp.
- Fixed a number of defects detected by Coverity Scan (version June 2019).
### Improvements in Usability ### Improvements in Usability
- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels. - The receiver now admits FPGA off-loading, allowing for real time operation in embedded systems at high sampling rates and high number of signals and channels per signal in multiple bands.
- Fixed program termination (avoiding hangs and segfaults in some platforms/configurations). - Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
- The Labsat_Signal_Source now terminates the receiver's execution when the end of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat 3 files. - The Labsat_Signal_Source now terminates the receiver's execution when the end of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat 3 files.
- Added configuration parameters to set the annotation rate in KML, GPX, GeoJSON and NMEA outputs, set by default to 1 s. - Added configuration parameters to set the annotation rate in KML, GPX, GeoJSON and NMEA outputs, set by default to 1 s.
- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver. - New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver. This feature is not available in old compilers.
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory. - CMake now generates a summary of required/optional dependency packages found and enabled/disabled features. This info is also stored in a file called features.log in the building directory.
- Improved information provided to the user in case of failure. - Improved information provided to the user in case of building configuration and runtime failures.

2
src/CMakeLists.txt
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@ -1,4 +1,4 @@
# Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) # Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
# #
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #

2
src/algorithms/CMakeLists.txt
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@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors) # Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
# #
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #

2
src/algorithms/PVT/CMakeLists.txt
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@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors) # Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
# #
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #

26
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -121,7 +121,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int rtcm_MT1077_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms); int rtcm_MT1077_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
int rtcm_MT1087_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms); int rtcm_MT1087_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
int rtcm_MT1097_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms); int rtcm_MT1097_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
//std::map<int, int> rtcm_msg_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms; pvt_output_parameters.rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms; pvt_output_parameters.rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms; pvt_output_parameters.rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
@ -409,7 +409,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
if (positioning_mode == -1) if (positioning_mode == -1)
{ {
//warn user and set the default // warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl; std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl; std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl; std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
@ -439,14 +439,14 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */ int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if ((number_of_frequencies < 1) || (number_of_frequencies > 3)) if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
{ {
//warn user and set the default // warn user and set the default
number_of_frequencies = num_bands; number_of_frequencies = num_bands;
} }
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0); double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if ((elevation_mask < 0.0) || (elevation_mask > 90.0)) if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
{ {
//warn user and set the default // warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees"; LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
elevation_mask = 15.0; elevation_mask = 15.0;
} }
@ -454,7 +454,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */ int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if ((dynamics_model < 0) || (dynamics_model > 2)) if ((dynamics_model < 0) || (dynamics_model > 2))
{ {
//warn user and set the default // warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)"; LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
dynamics_model = 0; dynamics_model = 0;
} }
@ -488,7 +488,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
} }
if (iono_model == -1) if (iono_model == -1)
{ {
//warn user and set the default // warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl; std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl; std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
std::cout << "iono_model specified value: " << iono_model_str << std::endl; std::cout << "iono_model specified value: " << iono_model_str << std::endl;
@ -521,7 +521,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
} }
if (trop_model == -1) if (trop_model == -1)
{ {
//warn user and set the default // warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl; std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl; std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
std::cout << "trop_model specified value: " << trop_model_str << std::endl; std::cout << "trop_model specified value: " << trop_model_str << std::endl;
@ -568,7 +568,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */ if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{ {
//warn user and set the default // warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)"; LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
navigation_system = nsys; navigation_system = nsys;
} }
@ -599,7 +599,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
} }
if (integer_ambiguity_resolution_gps == -1) if (integer_ambiguity_resolution_gps == -1)
{ {
//warn user and set the default // warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl; std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl; std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl; std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
@ -610,7 +610,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */ int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3)) if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
{ {
//warn user and set the default // warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
integer_ambiguity_resolution_glo = 1; integer_ambiguity_resolution_glo = 1;
} }
@ -618,7 +618,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */ int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1)) if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
{ {
//warn user and set the default // warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
integer_ambiguity_resolution_bds = 1; integer_ambiguity_resolution_bds = 1;
} }
@ -644,7 +644,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
If the baseline length is very short like 1 m, the iteration may be effective to handle If the baseline length is very short like 1 m, the iteration may be effective to handle
the nonlinearity of measurement equation. */ the nonlinearity of measurement equation. */
/// Statistics // Statistics
double bias_0 = configuration->property(role + ".bias_0", 30.0); double bias_0 = configuration->property(role + ".bias_0", 30.0);
double iono_0 = configuration->property(role + ".iono_0", 0.03); double iono_0 = configuration->property(role + ".iono_0", 0.03);

2
src/algorithms/PVT/adapters/rtklib_pvt.h
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@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

6
src/algorithms/PVT/libs/CMakeLists.txt
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@ -95,6 +95,12 @@ target_include_directories(pvt_libs
target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}") target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
if(CMAKE_BUILD_TYPE MATCHES Rel)
target_compile_definitions(pvt_libs
PUBLIC -DARMA_NO_BOUND_CHECKING=1
)
endif()
if(Boost_VERSION_STRING VERSION_GREATER 1.65.99) if(Boost_VERSION_STRING VERSION_GREATER 1.65.99)
target_compile_definitions(pvt_libs target_compile_definitions(pvt_libs
PUBLIC PUBLIC

2
src/algorithms/PVT/libs/geojson_printer.cc
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/libs/geojson_printer.h
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/libs/gpx_printer.cc
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/libs/gpx_printer.h
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/libs/hybrid_ls_pvt.h
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

4
src/algorithms/PVT/libs/kml_printer.cc
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@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -41,7 +41,7 @@
#include <sstream> #include <sstream>
#include <string> #include <string>
#include <sys/stat.h> // for S_IXUSR | S_IRWXG | S_IRWXO #include <sys/stat.h> // for S_IXUSR | S_IRWXG | S_IRWXO
#include <sys/types.h> //for mode_t #include <sys/types.h> // for mode_t
#if HAS_STD_FILESYSTEM #if HAS_STD_FILESYSTEM
#include <system_error> #include <system_error>

2
src/algorithms/PVT/libs/kml_printer.h
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/PVT/libs/monitor_pvt.h
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@ -5,7 +5,7 @@
* Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com * Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

3
src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -53,7 +53,6 @@ private:
boost::asio::ip::udp::socket socket; boost::asio::ip::udp::socket socket;
boost::system::error_code error; boost::system::error_code error;
std::vector<boost::asio::ip::udp::endpoint> endpoints; std::vector<boost::asio::ip::udp::endpoint> endpoints;
Monitor_Pvt monitor_pvt{};
Serdes_Monitor_Pvt serdes; Serdes_Monitor_Pvt serdes;
bool use_protobuf; bool use_protobuf;
}; };

8
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -10,7 +10,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -175,9 +175,9 @@ 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) * Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
*/ */
int fd = 0; int fd = 0;
struct termios options // clang-format off
{ struct termios options{};
}; // clang-format on
int64_t BAUD; int64_t BAUD;
int64_t DATABITS; int64_t DATABITS;
int64_t STOPBITS; int64_t STOPBITS;

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

@ -10,7 +10,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -32,6 +32,9 @@
#ifndef GNSS_SDR_PVT_SOLUTION_H_ #ifndef GNSS_SDR_PVT_SOLUTION_H_
#define GNSS_SDR_PVT_SOLUTION_H_ #define GNSS_SDR_PVT_SOLUTION_H_
#if ARMA_NO_BOUND_CHECKING
#define ARMA_NO_DEBUG 1
#endif
#include <armadillo> #include <armadillo>
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
@ -151,7 +154,6 @@ private:
arma::vec d_rx_pos; arma::vec d_rx_pos;
boost::posix_time::ptime d_position_UTC_time; boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations; int d_valid_observations;
}; };
#endif #endif

268
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -5,7 +5,7 @@
* \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es * \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -627,7 +627,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
std::string line; std::string line;
stringVersion = "3.02"; stringVersion = "3.02";
version = 3; version = 3;
@ -772,7 +772,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
std::string line; std::string line;
stringVersion = "3.02"; stringVersion = "3.02";
version = 3; version = 3;
@ -896,8 +896,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
//Avoid compiler warning, there is not time system correction between Galileo and GLONASS // Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if (galileo_utc_model.A_0G_10) if (galileo_utc_model.A_0G_10)
{ {
} }
@ -1379,7 +1379,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
{ {
line += std::string("N: GNSS NAV DATA"); line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' '); line += std::string(4, ' ');
//! \todo Add here other systems... //todo Add here other systems...
line += std::string("G: GPS"); line += std::string("G: GPS");
line += std::string(14, ' '); line += std::string(14, ' ');
// ... // ...
@ -1744,7 +1744,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
{ {
line += std::string("N: GNSS NAV DATA"); line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' '); line += std::string(4, ' ');
//! \todo Add here other systems... //todo: Add here other systems...
line += std::string("F: BDS"); line += std::string("F: BDS");
line += std::string(14, ' '); line += std::string(14, ' ');
// ... // ...
@ -2495,7 +2495,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
std::vector<std::string> data; std::vector<std::string> data;
std::string line_aux; std::string line_aux;
@ -3191,7 +3191,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
std::vector<std::string> data; std::vector<std::string> data;
std::string line_aux; std::string line_aux;
@ -3306,7 +3306,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gp
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
std::vector<std::string> data; std::vector<std::string> data;
std::string line_aux; std::string line_aux;
@ -3414,8 +3414,8 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
{ {
if (glonass_gnav_almanac.i_satellite_freq_channel) if (glonass_gnav_almanac.i_satellite_freq_channel)
{ {
} //Avoid compiler warning } // Avoid compiler warning
//Avoid compiler warning, there is not time system correction between Galileo and GLONASS // Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if (galileo_utc_model.A_0G_10) if (galileo_utc_model.A_0G_10)
{ {
} }
@ -4270,7 +4270,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gal
// -------- BROADCAST ORBIT - 6 // -------- BROADCAST ORBIT - 6
line.clear(); line.clear();
line += std::string(5, ' '); line += std::string(5, ' ');
//line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.SISA_3, 18, 2); // line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.SISA_3, 18, 2);
line += Rinex_Printer::doub2for(zero, 18, 2); // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID line += Rinex_Printer::doub2for(zero, 18, 2); // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
line += std::string(1, ' '); line += std::string(1, ' ');
std::string E1B_HS; std::string E1B_HS;
@ -4745,7 +4745,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
{ {
if (eph.d_m) if (eph.d_m)
{ {
} //Avoid compiler warning } // Avoid compiler warning
std::string line; std::string line;
std::map<int32_t, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter; std::map<int32_t, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
@ -4855,7 +4855,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -5181,7 +5181,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -5536,7 +5536,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -5845,7 +5845,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -6138,12 +6138,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -6168,7 +6168,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -6395,12 +6395,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -6425,7 +6425,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -6646,12 +6646,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -6676,7 +6676,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -6927,12 +6927,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -6957,7 +6957,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -7273,12 +7273,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -7303,7 +7303,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -7591,12 +7591,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -7621,7 +7621,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -7858,12 +7858,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
out << line << std::endl; out << line << std::endl;
// -------- Line MARKER TYPE // -------- Line MARKER TYPE
//line.clear(); // line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property // line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' '); // line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20); // line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line); // Rinex_Printer::lengthCheck(line);
//out << line << std::endl; // out << line << std::endl;
// -------- Line OBSERVER / AGENCY // -------- Line OBSERVER / AGENCY
line.clear(); line.clear();
@ -7888,7 +7888,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -8170,7 +8170,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Epheme
line.clear(); line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property // line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20) if (gnss_sdr_version.length() > 20)
{ {
gnss_sdr_version.resize(9, ' '); gnss_sdr_version.resize(9, ' ');
@ -8599,8 +8599,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_UTC_time(eph, obs_time); boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_UTC_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_glonass_time); std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time)); // double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time); // double gps_t = eph.sv_clock_correction(obs_time);
std::string month(timestring, 4, 2); std::string month(timestring, 4, 2);
std::string day(timestring, 6, 2); std::string day(timestring, 6, 2);
@ -8647,7 +8647,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::string(2, ' '); line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0; int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin(); for (observables_iter = observables.cbegin();
@ -8669,7 +8669,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); line += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
} }
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -8685,13 +8685,13 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::string(2, ' '); line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
lineObs += std::string(1, ' '); lineObs += std::string(1, ' ');
} }
//else // else
// { // {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1); // lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// } // }
@ -8705,7 +8705,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{ {
lineObs += std::string(1, ' '); lineObs += std::string(1, ' ');
} }
//else // else
// { // {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1); // lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// } // }
@ -8716,12 +8716,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{ {
lineObs += std::string(1, ' '); lineObs += std::string(1, ' ');
} }
//else // else
// { // {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1); // lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// } // }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GLONASS L1 SIGNAL STRENGTH // GLONASS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) if (lineObs.size() < 80)
{ {
@ -8757,7 +8757,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0; int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin(); for (observables_iter = observables.cbegin();
@ -8769,7 +8769,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -8787,10 +8787,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
lineObs += std::string(1, '0'); lineObs += std::string(1, '0');
} }
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
//lineObs += std::string(2, ' '); // lineObs += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -8830,7 +8830,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GLONASS L1 SIGNAL STRENGTH // GLONASS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80) if (lineObs.size() < 80)
@ -8931,8 +8931,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
line += std::string(1, '0'); line += std::string(1, '0');
} }
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with observations // Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG1C; std::map<int32_t, Gnss_Synchro> observablesG1C;
std::map<int32_t, Gnss_Synchro> observablesR1C; std::map<int32_t, Gnss_Synchro> observablesR1C;
std::map<int32_t, Gnss_Synchro> observablesR2C; std::map<int32_t, Gnss_Synchro> observablesR2C;
@ -9065,7 +9065,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// Pseudorange Measurements // Pseudorange Measurements
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9136,7 +9136,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
//double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time); //double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9232,8 +9232,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with observations // Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG2S; std::map<int32_t, Gnss_Synchro> observablesG2S;
std::map<int32_t, Gnss_Synchro> observablesR1C; std::map<int32_t, Gnss_Synchro> observablesR1C;
std::map<int32_t, Gnss_Synchro> observablesR2C; std::map<int32_t, Gnss_Synchro> observablesR2C;
@ -9325,7 +9325,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
// Pseudorange Measurements // Pseudorange Measurements
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9394,7 +9394,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
//double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time); //double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9489,9 +9489,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with observations // Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesE1B; std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesR1C; std::map<int32_t, Gnss_Synchro> observablesR1C;
std::map<int32_t, Gnss_Synchro> observablesR2C; std::map<int32_t, Gnss_Synchro> observablesR2C;
@ -9551,7 +9551,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -9581,7 +9581,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9647,7 +9647,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9755,7 +9755,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += std::string(2, ' '); line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0; int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin(); for (observables_iter = observables.cbegin();
@ -9777,7 +9777,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); line += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
} }
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -9793,7 +9793,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += std::string(2, ' '); line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9866,7 +9866,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0; int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin(); for (observables_iter = observables.cbegin();
@ -9878,7 +9878,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -9896,10 +9896,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
lineObs += std::string(1, '0'); lineObs += std::string(1, '0');
} }
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
//lineObs += std::string(2, ' '); // lineObs += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -9993,7 +9993,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0; int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin(); for (observables_iter = observables.cbegin();
@ -10005,7 +10005,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -10023,11 +10023,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
lineObs += std::string(1, '0'); lineObs += std::string(1, '0');
} }
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
//lineObs += std::string(2, ' '); // lineObs += std::string(2, ' ');
//GPS L2 PSEUDORANGE //GPS L2 PSEUDORANGE
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -10123,9 +10123,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with GPS L1 and L2 observations // Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2; std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro> observablesL5; std::map<int32_t, Gnss_Synchro> observablesL5;
@ -10229,7 +10229,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
int32_t numSatellitesObserved = available_prns.size(); int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -10252,7 +10252,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -10346,9 +10346,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with Galileo observations // Get maps with Galileo observations
std::map<int32_t, Gnss_Synchro> observablesE1B; std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A; std::map<int32_t, Gnss_Synchro> observablesE5A;
std::map<int32_t, Gnss_Synchro> observablesE5B; std::map<int32_t, Gnss_Synchro> observablesE5B;
@ -10475,7 +10475,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
int32_t numSatellitesObserved = available_prns.size(); int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -10498,7 +10498,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -10593,9 +10593,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with observations // Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG1C; std::map<int32_t, Gnss_Synchro> observablesG1C;
std::map<int32_t, Gnss_Synchro> observablesE1B; std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A; std::map<int32_t, Gnss_Synchro> observablesE5A;
@ -10674,7 +10674,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -10704,7 +10704,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN)); lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -10770,7 +10770,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -10865,9 +10865,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with observations // Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG2S; std::map<int32_t, Gnss_Synchro> observablesG2S;
std::map<int32_t, Gnss_Synchro> observablesGL5; std::map<int32_t, Gnss_Synchro> observablesGL5;
std::map<int32_t, Gnss_Synchro> observablesE1B; std::map<int32_t, Gnss_Synchro> observablesE1B;
@ -10979,7 +10979,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -11005,7 +11005,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -11067,7 +11067,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -11162,9 +11162,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with observations // Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG2S; std::map<int32_t, Gnss_Synchro> observablesG2S;
std::map<int32_t, Gnss_Synchro> observablesGL5; std::map<int32_t, Gnss_Synchro> observablesGL5;
std::map<int32_t, Gnss_Synchro> observablesG1C; std::map<int32_t, Gnss_Synchro> observablesG1C;
@ -11294,7 +11294,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
@ -11320,7 +11320,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -11382,7 +11382,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -11471,9 +11471,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event // Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0'); line += std::string(1, '0');
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
//Get maps with BeiDou observations // Get maps with BeiDou observations
std::map<int32_t, Gnss_Synchro> observablesB1I; std::map<int32_t, Gnss_Synchro> observablesB1I;
std::map<int32_t, Gnss_Synchro> observablesB3I; std::map<int32_t, Gnss_Synchro> observablesB3I;
@ -11544,7 +11544,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
int32_t numSatellitesObserved = available_prns.size(); int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3); line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional) // Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15); // line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' '); line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line); Rinex_Printer::lengthCheck(line);
out << line << std::endl; out << line << std::endl;
@ -11567,7 +11567,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
{ {
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI) // Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!! int32_t lli = 0; // Include in the observation!!
if (lli == 0) if (lli == 0)
{ {
@ -11771,7 +11771,7 @@ int32_t Rinex_Printer::signalStrength(const double snr)
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Gps_Navigation_Message& nav_msg) boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Gps_Navigation_Message& nav_msg)
{ {
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time // if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm // idea: resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
const double utc_t = nav_msg.utc_time(nav_msg.d_TOW); const double utc_t = nav_msg.utc_time(nav_msg.d_TOW);
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000)); boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000));
if (nav_msg.i_GPS_week < 512) if (nav_msg.i_GPS_week < 512)

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

@ -25,7 +25,7 @@
* \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es * \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

48
src/algorithms/PVT/libs/rtcm.cc
View File

@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -498,7 +498,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, co
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get a map with GPS L1 only observations // Get a map with GPS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -547,7 +547,7 @@ std::string Rtcm::print_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, co
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get a map with GPS L1 only observations // Get a map with GPS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -618,7 +618,7 @@ std::string Rtcm::print_MT1003(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get maps with GPS L1 and L2 observations // Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2; std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -727,7 +727,7 @@ std::string Rtcm::print_MT1004(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get maps with GPS L1 and L2 observations // Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2; std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1177,7 +1177,7 @@ std::string Rtcm::print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, d
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get a map with GLONASS L1 only observations // Get a map with GLONASS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1226,7 +1226,7 @@ std::string Rtcm::print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, d
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get a map with GPS L1 only observations // Get a map with GPS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1301,7 +1301,7 @@ std::string Rtcm::print_MT1011(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get maps with GPS L1 and L2 observations // Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2; std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1412,7 +1412,7 @@ std::string Rtcm::print_MT1012(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
//Get maps with GLONASS L1 and L2 observations // Get maps with GLONASS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1; std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2; std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1887,13 +1887,13 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
index += 1; index += 1;
if (glonass_gnav_alm_health) if (glonass_gnav_alm_health)
{ {
} //Avoid comiler warning } // Avoid compiler warning
glonass_gnav_alm_health_ind = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 1))); glonass_gnav_alm_health_ind = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1; index += 1;
if (glonass_gnav_alm_health_ind) if (glonass_gnav_alm_health_ind)
{ {
} //Avoid comiler warning } // Avoid compiler warning
glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2))); glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1 + 1) * 15; glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1 + 1) * 15;
@ -2309,7 +2309,7 @@ std::string Rtcm::print_MSM_1(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -2504,7 +2504,7 @@ std::string Rtcm::print_MSM_2(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -2617,7 +2617,7 @@ std::string Rtcm::print_MSM_3(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -2733,7 +2733,7 @@ std::string Rtcm::print_MSM_4(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -2892,7 +2892,7 @@ std::string Rtcm::print_MSM_5(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -3060,7 +3060,7 @@ std::string Rtcm::print_MSM_6(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -3179,7 +3179,7 @@ std::string Rtcm::print_MSM_7(const Gps_Ephemeris& gps_eph,
} }
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0)) if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
{ {
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages? LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
} }
if (msg_number == 0) if (msg_number == 0)
{ {
@ -3709,7 +3709,7 @@ int32_t Rtcm::set_DF002(uint32_t message_number)
int32_t Rtcm::set_DF003(uint32_t ref_station_ID) int32_t Rtcm::set_DF003(uint32_t ref_station_ID)
{ {
//uint32_t station_ID = ref_station_ID; // uint32_t station_ID = ref_station_ID;
if (ref_station_ID > 4095) if (ref_station_ID > 4095)
{ {
LOG(WARNING) << "RTCM reference station ID must be between 0 and 4095, but it has been set to " << ref_station_ID; LOG(WARNING) << "RTCM reference station ID must be between 0 and 4095, but it has been set to " << ref_station_ID;
@ -3745,7 +3745,7 @@ int32_t Rtcm::set_DF005(bool sync_flag)
int32_t Rtcm::set_DF006(const std::map<int32_t, Gnss_Synchro>& observables) int32_t Rtcm::set_DF006(const std::map<int32_t, Gnss_Synchro>& observables)
{ {
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
uint16_t nsats = 0; uint16_t nsats = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin(); for (observables_iter = observables.cbegin();
@ -4007,7 +4007,7 @@ int32_t Rtcm::set_DF034(double obs_time)
int32_t Rtcm::set_DF035(const std::map<int32_t, Gnss_Synchro>& observables) int32_t Rtcm::set_DF035(const std::map<int32_t, Gnss_Synchro>& observables)
{ {
//Number of satellites observed in current epoch // Number of satellites observed in current epoch
uint16_t nsats = 0; uint16_t nsats = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter; std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.begin(); for (observables_iter = observables.begin();
@ -4258,7 +4258,7 @@ int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
std::string hours = now_ptime.substr(9, 2); std::string hours = now_ptime.substr(9, 2);
std::string minutes = now_ptime.substr(11, 2); std::string minutes = now_ptime.substr(11, 2);
std::string seconds = now_ptime.substr(13, 8); std::string seconds = now_ptime.substr(13, 8);
//boost::gregorian::date d(boost::gregorian::from_undelimited_string(today_ptime)); // boost::gregorian::date d(boost::gregorian::from_undelimited_string(today_ptime));
uint32_t seconds_of_day = boost::lexical_cast<uint32_t>(hours) * 60 * 60 + boost::lexical_cast<uint32_t>(minutes) * 60 + boost::lexical_cast<uint32_t>(seconds); uint32_t seconds_of_day = boost::lexical_cast<uint32_t>(hours) * 60 * 60 + boost::lexical_cast<uint32_t>(minutes) * 60 + boost::lexical_cast<uint32_t>(seconds);
DF052 = std::bitset<17>(seconds_of_day); DF052 = std::bitset<17>(seconds_of_day);
return 0; return 0;
@ -4866,7 +4866,7 @@ int32_t Rtcm::set_DF290(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph) int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph)
{ {
auto SISA = static_cast<uint16_t>(gal_eph.SISA_3); auto SISA = static_cast<uint16_t>(gal_eph.SISA_3);
//SISA = 0; // SIS Accuracy, data content definition not given in Galileo OS SIS ICD, Issue 1.1, Sept 2010 // SISA = 0; // SIS Accuracy, data content definition not given in Galileo OS SIS ICD, Issue 1.1, Sept 2010
DF291 = std::bitset<8>(SISA); DF291 = std::bitset<8>(SISA);
return 0; return 0;
} }
@ -5047,7 +5047,7 @@ int32_t Rtcm::set_DF312(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF313(const Galileo_Ephemeris& gal_eph) int32_t Rtcm::set_DF313(const Galileo_Ephemeris& gal_eph)
{ {
auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b_5)); auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b_5));
//bdg_E5b_E1 = 0; //reserved // bdg_E5b_E1 = 0; // reserved
DF313 = std::bitset<10>(bdg_E5b_E1); DF313 = std::bitset<10>(bdg_E5b_E1);
return 0; return 0;
} }

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

@ -5,7 +5,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

12
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -384,7 +384,9 @@ 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) * Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1)
*/ */
int32_t fd = 0; int32_t fd = 0;
// clang-format off
struct termios options{}; struct termios options{};
// clang-format on
int64_t BAUD; int64_t BAUD;
int64_t DATABITS; int64_t DATABITS;
int64_t STOPBITS; int64_t STOPBITS;
@ -404,7 +406,7 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
//BAUD = B38400; // BAUD = B38400;
DATABITS = CS8; DATABITS = CS8;
STOPBITS = 0; STOPBITS = 0;
PARITYON = 0; PARITYON = 0;
@ -412,7 +414,7 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD; options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
// enable receiver, set 8 bit data, ignore control lines // enable receiver, set 8 bit data, ignore control lines
//options.c_cflag |= (CLOCAL | CREAD | CS8); // options.c_cflag |= (CLOCAL | CREAD | CS8);
options.c_iflag = IGNPAR; options.c_iflag = IGNPAR;
// set the new port options // set the new port options
@ -432,7 +434,7 @@ void Rtcm_Printer::close_serial()
bool Rtcm_Printer::Print_Message(const std::string& message) bool Rtcm_Printer::Print_Message(const std::string& message)
{ {
//write to file // write to file
if (d_rtcm_file_dump) if (d_rtcm_file_dump)
{ {
try try
@ -446,7 +448,7 @@ bool Rtcm_Printer::Print_Message(const std::string& message)
} }
} }
//write to serial device // write to serial device
if (rtcm_dev_descriptor != -1) if (rtcm_dev_descriptor != -1)
{ {
if (write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1) if (write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1)

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

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

94
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -22,8 +22,8 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu * Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas * Copyright (C) 2017-2019, Javier Arribas
* Copyright (C) 2017, Carles Fernandez * Copyright (C) 2017-2019, Carles Fernandez
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@ -94,7 +94,6 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
d_dump_filename = std::move(dump_filename); d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file; d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat; d_flag_dump_mat_enabled = flag_dump_to_mat;
count_valid_position = 0;
this->set_averaging_flag(false); this->set_averaging_flag(false);
rtk_ = rtk; rtk_ = rtk;
@ -117,6 +116,44 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
} }
} }
Rtklib_Solver::~Rtklib_Solver()
{
if (d_dump_file.is_open() == true)
{
auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_dump_filename), ec))
{
std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
}
d_flag_dump_mat_enabled = false;
}
}
if (d_flag_dump_mat_enabled)
{
try
{
save_matfile();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what();
}
}
}
bool Rtklib_Solver::save_matfile() bool Rtklib_Solver::save_matfile()
{ {
// READ DUMP FILE // READ DUMP FILE
@ -356,43 +393,6 @@ bool Rtklib_Solver::save_matfile()
} }
Rtklib_Solver::~Rtklib_Solver()
{
if (d_dump_file.is_open() == true)
{
auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_dump_filename), ec))
{
std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
}
d_flag_dump_mat_enabled = false;
}
}
if (d_flag_dump_mat_enabled)
{
try
{
save_matfile();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what();
}
}
}
double Rtklib_Solver::get_gdop() const double Rtklib_Solver::get_gdop() const
{ {
return dop_[0]; return dop_[0];
@ -718,7 +718,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs], obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2) 1); // Band 1 (L2)
found_L1_obs = true; found_L1_obs = true;
break; break;
} }
@ -913,7 +913,13 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
/* update carrier wave length using native function call in RTKlib */ /* update carrier wave length using native function call in RTKlib */
uniqnav(&nav_data); for (int i = 0; i < MAXSAT; i++)
{
for (int j = 0; j < NFREQ; j++)
{
nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data);
}
}
result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
@ -1000,9 +1006,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
<< " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time; << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
boost::posix_time::ptime p_time; boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); //Corrected RX Time (Non integer multiply of 1 ms of granularity) // gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); // Corrected RX Time (Non integer multiply of 1 ms of granularity)
// Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX) // Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX)
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3)); //uncorrected rx time gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3)); // uncorrected rx time
gtime_t rtklib_utc_time = gpst2utc(rtklib_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::from_time_t(rtklib_utc_time.time);
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int) p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int)

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

@ -22,8 +22,8 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu * Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas * Copyright (C) 2017-2019, Javier Arribas
* Copyright (C) 2017, Carles Fernandez * Copyright (C) 2017-2019, Carles Fernandez
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
@ -126,8 +126,6 @@ public:
Beidou_Dnav_Iono beidou_dnav_iono; Beidou_Dnav_Iono beidou_dnav_iono;
std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map; std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
int count_valid_position;
private: private:
rtk_t rtk_{}; rtk_t rtk_{};
std::string d_dump_filename; std::string d_dump_filename;

2
src/algorithms/acquisition/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors) # Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
# #
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #

2
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -98,6 +98,7 @@ target_link_libraries(acquisition_adapters
algorithms_libs algorithms_libs
gnss_sdr_flags gnss_sdr_flags
acquisition_gr_blocks acquisition_gr_blocks
acquisition_libs
channel_libs channel_libs
core_system_parameters core_system_parameters
Gnuradio::blocks Gnuradio::blocks
@ -108,7 +109,6 @@ target_link_libraries(acquisition_adapters
Glog::glog Glog::glog
Gnuradio::fft Gnuradio::fft
Volkgnsssdr::volkgnsssdr Volkgnsssdr::volkgnsssdr
acquisition_libs
) )
target_include_directories(acquisition_adapters target_include_directories(acquisition_adapters

8
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -199,14 +199,14 @@ void BeidouB1iPcpsAcquisition::init()
void BeidouB1iPcpsAcquisition::set_local_code() void BeidouB1iPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0); beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++) for (unsigned int i = 0; i < num_codes_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());

2
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

6
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
View File

@ -200,14 +200,14 @@ void BeidouB3iPcpsAcquisition::init()
void BeidouB3iPcpsAcquisition::set_local_code() void BeidouB3iPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0); beidou_b3i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++) for (unsigned int i = 0; i < num_codes_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());

8
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -210,19 +210,19 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false); "Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
std::array<char, 3> Signal_{}; std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0]; Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1]; Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0'; Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), Signal_, galileo_e1_code_gen_complex_sampled(code, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

17
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -212,6 +212,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_doppler_step(unsigned int doppler_st
acquisition_->set_doppler_step(doppler_step_); acquisition_->set_doppler_step(doppler_step_);
} }
void GalileoE1PcpsAmbiguousAcquisition::set_doppler_center(int doppler_center) void GalileoE1PcpsAmbiguousAcquisition::set_doppler_center(int doppler_center)
{ {
doppler_center_ = doppler_center; doppler_center_ = doppler_center;
@ -245,8 +246,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false); "Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
gsl::span<std::complex<float>> code_span(code.get(), code_length_);
if (acquire_pilot_ == true) if (acquire_pilot_ == true)
{ {
@ -254,12 +254,12 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}}; std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
galileo_e1_code_gen_complex_sampled(code_span, pilot_signal, galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false); cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
} }
else else
{ {
galileo_e1_code_gen_complex_sampled(code_span, pilot_signal, galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
} }
} }
@ -271,12 +271,12 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
Signal_[2] = '\0'; Signal_[2] = '\0';
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
galileo_e1_code_gen_complex_sampled(code_span, Signal_, galileo_e1_code_gen_complex_sampled(code, Signal_,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false); cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
} }
else else
{ {
galileo_e1_code_gen_complex_sampled(code_span, Signal_, galileo_e1_code_gen_complex_sampled(code, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
} }
} }
@ -284,7 +284,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
gsl::span<gr_complex> code__span(code_.data(), vector_length_); gsl::span<gr_complex> code__span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
std::copy_n(code.get(), code_length_, code__span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code__span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());
@ -397,6 +397,7 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
return acquisition_; return acquisition_;
} }
void GalileoE1PcpsAmbiguousAcquisition::set_resampler_latency(uint32_t latency_samples) void GalileoE1PcpsAmbiguousAcquisition::set_resampler_latency(uint32_t latency_samples)
{ {
acquisition_->set_resampler_latency(latency_samples); acquisition_->set_resampler_latency(latency_samples);

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

31
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -34,7 +34,6 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "galileo_e1_signal_processing.h" #include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex #include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
@ -44,14 +43,6 @@
#include <cmath> // for abs, pow, floor #include <cmath> // for abs, pow, floor
#include <complex> // for complex #include <complex> // for complex
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga( GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
ConfigurationInterface* configuration, ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
@ -122,15 +113,15 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
if (acquire_pilot_ == true) if (acquire_pilot_ == true)
{ {
//set local signal generator to Galileo E1 pilot component (1C) // set local signal generator to Galileo E1 pilot component (1C)
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}}; std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), pilot_signal, galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false); cboc, PRN, fs_in, 0, false);
} }
else else
{ {
std::array<char, 3> data_signal = {{'1', 'B', '\0'}}; std::array<char, 3> data_signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), data_signal, galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false); cboc, PRN, fs_in, 0, false);
} }
@ -166,10 +157,10 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// and package codes in a format that is ready to be written to the FPGA // and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++) for (uint32_t i = 0; i < nsamples_total; i++)
{ {
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS; fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data; d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
} }
} }
@ -222,6 +213,14 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int dopple
} }
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;

56
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -24,7 +24,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
@ -32,16 +32,15 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ #ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ #define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#include "acq_conf.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
class Gnss_Synchro;
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
@ -51,13 +50,22 @@ class ConfigurationInterface;
class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
{ {
public: public:
/*!
* \brief Constructor
*/
GalileoE1PcpsAmbiguousAcquisitionFpga(ConfigurationInterface* configuration, GalileoE1PcpsAmbiguousAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
/*!
* \brief Destructor
*/
~GalileoE1PcpsAmbiguousAcquisitionFpga() = default; ~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override inline std::string role() override
{ {
return role_; return role_;
@ -71,15 +79,32 @@ public:
return "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga"; return "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga";
} }
/*!
* \brief Returns size of lv_16sc_t
*/
size_t item_size() override size_t item_size() override
{ {
size_t item_size = sizeof(lv_16sc_t); return sizeof(int16_t);
return item_size;
} }
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override; void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override; void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override; gr::basic_block_sptr get_right_block() override;
/*! /*!
@ -122,6 +147,11 @@ public:
*/ */
void set_doppler_step(unsigned int doppler_step) override; void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*! /*!
* \brief Initializes acquisition algorithm. * \brief Initializes acquisition algorithm.
*/ */
@ -152,9 +182,20 @@ public:
*/ */
void stop_acquisition() override; void stop_acquisition() override;
/*!
* \brief Set resampler latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_; pcps_acquisition_fpga_sptr acquisition_fpga_;
bool acquire_pilot_; bool acquire_pilot_;
@ -162,6 +203,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_; uint32_t doppler_max_;
uint32_t doppler_step_; uint32_t doppler_step_;
int32_t doppler_center_;
std::string dump_filename_; std::string dump_filename_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;

7
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -186,7 +186,6 @@ signed int GalileoE1PcpsCccwsrAmbiguousAcquisition::mag()
void GalileoE1PcpsCccwsrAmbiguousAcquisition::init() void GalileoE1PcpsCccwsrAmbiguousAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
@ -199,12 +198,12 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
std::array<char, 3> signal = {{'1', 'B', '\0'}}; std::array<char, 3> signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_data_.data(), vector_length_), signal, galileo_e1_code_gen_complex_sampled(code_data_, signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
std::array<char, 3> signal_C = {{'1', 'C', '\0'}}; std::array<char, 3> signal_C = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_pilot_.data(), vector_length_), signal_C, galileo_e1_code_gen_complex_sampled(code_pilot_, signal_C,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
acquisition_cc_->set_local_code(code_data_.data(), code_pilot_.data()); acquisition_cc_->set_local_code(code_data_.data(), code_pilot_.data());

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

8
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -244,19 +244,19 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false); "Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
std::array<char, 3> Signal_{}; std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0]; Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1]; Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0'; Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_, galileo_e1_code_gen_complex_sampled(code, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++) for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

8
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -214,18 +214,18 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false); "Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
std::array<char, 3> Signal_{}; std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0]; Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1]; Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0'; Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_, galileo_e1_code_gen_complex_sampled(code, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

11
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -12,7 +12,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -209,7 +209,6 @@ signed int GalileoE5aNoncoherentIQAcquisitionCaf::mag()
void GalileoE5aNoncoherentIQAcquisitionCaf::init() void GalileoE5aNoncoherentIQAcquisitionCaf::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
@ -223,17 +222,17 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
std::array<char, 3> a = {{'5', 'I', '\0'}}; std::array<char, 3> a = {{'5', 'I', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeI.data(), code_length_), a, galileo_e5_a_code_gen_complex_sampled(codeI, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
std::array<char, 3> b = {{'5', 'Q', '\0'}}; std::array<char, 3> b = {{'5', 'Q', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeQ.data(), code_length_), b, galileo_e5_a_code_gen_complex_sampled(codeQ, b,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
} }
else else
{ {
std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}}; std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeI.data(), code_length_), signal_type_, galileo_e5_a_code_gen_complex_sampled(codeI, signal_type_,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
} }
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1) // WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
@ -277,7 +276,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::reset()
float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa) float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {

2
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -12,7 +12,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

14
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -5,7 +5,7 @@
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -85,7 +85,6 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
blocking_ = configuration_->property(role + ".blocking", true); 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); 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") if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{ {
@ -209,6 +208,7 @@ void GalileoE5aPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_); acquisition_->set_doppler_step(doppler_step_);
} }
void GalileoE5aPcpsAcquisition::set_doppler_center(int doppler_center) void GalileoE5aPcpsAcquisition::set_doppler_center(int doppler_center)
{ {
doppler_center_ = doppler_center; doppler_center_ = doppler_center;
@ -216,6 +216,7 @@ void GalileoE5aPcpsAcquisition::set_doppler_center(int doppler_center)
acquisition_->set_doppler_center(doppler_center_); acquisition_->set_doppler_center(doppler_center_);
} }
void GalileoE5aPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GalileoE5aPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -237,7 +238,7 @@ void GalileoE5aPcpsAcquisition::init()
void GalileoE5aPcpsAcquisition::set_local_code() void GalileoE5aPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
std::array<char, 3> signal_{}; std::array<char, 3> signal_{};
signal_[0] = '5'; signal_[0] = '5';
signal_[2] = '\0'; signal_[2] = '\0';
@ -257,16 +258,16 @@ void GalileoE5aPcpsAcquisition::set_local_code()
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
galileo_e5_a_code_gen_complex_sampled(gsl::span<gr_complex>(code.get(), code_length_), signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0); galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
} }
else else
{ {
galileo_e5_a_code_gen_complex_sampled(gsl::span<gr_complex>(code.get(), code_length_), signal_, gnss_synchro_->PRN, fs_in_, 0); galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
} }
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());
@ -349,6 +350,7 @@ gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_right_block()
return acquisition_; return acquisition_;
} }
void GalileoE5aPcpsAcquisition::set_resampler_latency(uint32_t latency_samples) void GalileoE5aPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{ {
acquisition_->set_resampler_latency(latency_samples); acquisition_->set_resampler_latency(latency_samples);

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -5,7 +5,7 @@
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

27
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -34,7 +34,6 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "galileo_e5_signal_processing.h" #include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex #include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
@ -44,14 +43,6 @@
#include <cmath> // for abs, pow, floor #include <cmath> // for abs, pow, floor
#include <complex> // for complex #include <complex> // for complex
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration, GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
@ -136,7 +127,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
signal_[1] = 'I'; signal_[1] = 'I';
} }
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), signal_, PRN, fs_in, 0); galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -169,10 +160,10 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// and package codes in a format that is ready to be written to the FPGA // and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++) for (uint32_t i = 0; i < nsamples_total; i++)
{ {
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS; fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data; d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
} }
} }
@ -225,6 +216,14 @@ void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
} }
void GalileoE5aPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;

53
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -24,7 +24,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
@ -34,16 +34,12 @@
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <cstdint>
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
class Gnss_Synchro;
class ConfigurationInterface; class ConfigurationInterface;
@ -54,13 +50,22 @@ class ConfigurationInterface;
class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
{ {
public: public:
/*!
* \brief Constructor
*/
GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration, GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
/*!
* \brief Destructor
*/
~GalileoE5aPcpsAcquisitionFpga() = default; ~GalileoE5aPcpsAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override inline std::string role() override
{ {
return role_; return role_;
@ -74,14 +79,32 @@ public:
return "Galileo_E5a_Pcps_Acquisition_Fpga"; return "Galileo_E5a_Pcps_Acquisition_Fpga";
} }
/*!
* \brief Returns size of lv_16sc_t
*/
inline size_t item_size() override inline size_t item_size() override
{ {
return sizeof(lv_16sc_t); return sizeof(int16_t);
} }
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override; void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override; void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override; gr::basic_block_sptr get_right_block() override;
/*! /*!
@ -124,6 +147,11 @@ public:
*/ */
void set_doppler_step(unsigned int doppler_step) override; void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*! /*!
* \brief Initializes acquisition algorithm. * \brief Initializes acquisition algorithm.
*/ */
@ -162,11 +190,19 @@ public:
void stop_acquisition() override; void stop_acquisition() override;
/*! /*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation * \brief Set resampler latency
*/ */
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_; pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_; std::string item_type_;
@ -178,6 +214,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_; uint32_t doppler_max_;
uint32_t doppler_step_; uint32_t doppler_step_;
int32_t doppler_center_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;

8
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -202,14 +202,14 @@ void GlonassL1CaPcpsAcquisition::init()
void GlonassL1CaPcpsAcquisition::set_local_code() void GlonassL1CaPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), /* gnss_synchro_->PRN,*/ fs_in_, 0); glonass_l1_ca_code_gen_complex_sampled(code, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());

2
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

8
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -201,14 +201,14 @@ void GlonassL2CaPcpsAcquisition::init()
void GlonassL2CaPcpsAcquisition::set_local_code() void GlonassL2CaPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), /* gnss_synchro_->PRN,*/ fs_in_, 0); glonass_l2_ca_code_gen_complex_sampled(code, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());

2
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

17
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -10,7 +10,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -41,8 +41,8 @@
#include "gps_sdr_signal_processing.h" #include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp> #include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <algorithm>
#include <gsl/gsl> #include <gsl/gsl>
#include <algorithm>
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition( GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
@ -201,6 +201,7 @@ void GpsL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_); acquisition_->set_doppler_step(doppler_step_);
} }
void GpsL1CaPcpsAcquisition::set_doppler_center(int doppler_center) void GpsL1CaPcpsAcquisition::set_doppler_center(int doppler_center)
{ {
doppler_center_ = doppler_center; doppler_center_ = doppler_center;
@ -208,6 +209,7 @@ void GpsL1CaPcpsAcquisition::set_doppler_center(int doppler_center)
acquisition_->set_doppler_center(doppler_center_); acquisition_->set_doppler_center(doppler_center_);
} }
void GpsL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GpsL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -230,20 +232,20 @@ void GpsL1CaPcpsAcquisition::init()
void GpsL1CaPcpsAcquisition::set_local_code() void GpsL1CaPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
} }
else else
{ {
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
} }
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());
@ -264,7 +266,7 @@ void GpsL1CaPcpsAcquisition::set_state(int state)
float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {
@ -355,6 +357,7 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
return acquisition_; return acquisition_;
} }
void GpsL1CaPcpsAcquisition::set_resampler_latency(uint32_t latency_samples) void GpsL1CaPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{ {
acquisition_->set_resampler_latency(latency_samples); acquisition_->set_resampler_latency(latency_samples);

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -10,7 +10,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

5
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -9,7 +9,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -151,13 +151,12 @@ signed int GpsL1CaPcpsAcquisitionFineDoppler::mag()
void GpsL1CaPcpsAcquisitionFineDoppler::init() void GpsL1CaPcpsAcquisitionFineDoppler::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
void GpsL1CaPcpsAcquisitionFineDoppler::set_local_code() void GpsL1CaPcpsAcquisitionFineDoppler::set_local_code()
{ {
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code_.data(), vector_length_), gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());
} }

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

29
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -36,7 +36,6 @@
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h" #include "gps_sdr_signal_processing.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/fft/fft.h> #include <gnuradio/fft/fft.h>
@ -47,16 +46,6 @@
#include <cmath> // for abs, pow, floor #include <cmath> // for abs, pow, floor
#include <complex> // for complex #include <complex> // for complex
#define NUM_PRNs 32
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga( GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration, ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
@ -113,7 +102,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// temporary maxima search // temporary maxima search
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in, 0); // generate PRN code gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -146,10 +135,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// and package codes in a format that is ready to be written to the FPGA // and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++) for (uint32_t i = 0; i < nsamples_total; i++)
{ {
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS; fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data; d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
} }
} }
@ -203,6 +192,14 @@ void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
} }
void GpsL1CaPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;

56
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -37,15 +37,13 @@
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
class Gnss_Synchro;
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
@ -55,13 +53,22 @@ class ConfigurationInterface;
class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface
{ {
public: public:
/*!
* \brief Constructor
*/
GpsL1CaPcpsAcquisitionFpga(ConfigurationInterface* configuration, GpsL1CaPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
/*!
* \brief Destructor
*/
~GpsL1CaPcpsAcquisitionFpga() = default; ~GpsL1CaPcpsAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override inline std::string role() override
{ {
return role_; return role_;
@ -75,15 +82,32 @@ public:
return "GPS_L1_CA_PCPS_Acquisition_Fpga"; return "GPS_L1_CA_PCPS_Acquisition_Fpga";
} }
/*!
* \brief Returns size of lv_16sc_t
*/
inline size_t item_size() override inline size_t item_size() override
{ {
size_t item_size = sizeof(lv_16sc_t); return sizeof(int16_t);
return item_size;
} }
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override; void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override; void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override; gr::basic_block_sptr get_right_block() override;
/*! /*!
@ -126,6 +150,11 @@ public:
*/ */
void set_doppler_step(unsigned int doppler_step) override; void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*! /*!
* \brief Initializes acquisition algorithm. * \brief Initializes acquisition algorithm.
*/ */
@ -156,15 +185,30 @@ public:
*/ */
void stop_acquisition() override; void stop_acquisition() override;
/*!
* \brief Set Resampler Latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t NUM_PRNs = 32;
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_; pcps_acquisition_fpga_sptr acquisition_fpga_;
uint32_t channel_; uint32_t channel_;
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_; uint32_t doppler_max_;
uint32_t doppler_step_; uint32_t doppler_step_;
int32_t doppler_center_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -9,7 +9,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -143,15 +143,16 @@ signed int GpsL1CaPcpsAssistedAcquisition::mag()
void GpsL1CaPcpsAssistedAcquisition::init() void GpsL1CaPcpsAssistedAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
void GpsL1CaPcpsAssistedAcquisition::set_local_code() void GpsL1CaPcpsAssistedAcquisition::set_local_code()
{ {
gps_l1_ca_code_gen_complex_sampled(gsl::span<gr_complex>(code_.get(), vector_length_), gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.get()); acquisition_cc_->set_local_code(code_.get());
} }
void GpsL1CaPcpsAssistedAcquisition::reset() void GpsL1CaPcpsAssistedAcquisition::reset()
{ {
acquisition_cc_->set_active(true); acquisition_cc_->set_active(true);

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

12
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -198,7 +198,6 @@ signed int GpsL1CaPcpsOpenClAcquisition::mag()
void GpsL1CaPcpsOpenClAcquisition::init() void GpsL1CaPcpsOpenClAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
@ -206,14 +205,14 @@ void GpsL1CaPcpsOpenClAcquisition::set_local_code()
{ {
if (item_type_ == "gr_complex") if (item_type_ == "gr_complex")
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());
@ -232,8 +231,7 @@ void GpsL1CaPcpsOpenClAcquisition::reset()
float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

15
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -68,7 +68,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); 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*/ /* Calculate the folding factor value based on the calculations */
auto 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); folding_factor_ = configuration_->property(role + ".folding_factor", temp);
@ -106,7 +106,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
int samples_per_ms = round(code_length_); int samples_per_ms = round(code_length_);
code_ = std::vector<std::complex<float>>(code_length_); code_ = std::vector<std::complex<float>>(code_length_);
/*Object relevant information for debugging*/ /* Object relevant information for debugging */
LOG(INFO) << "Implementation: " << this->implementation() LOG(INFO) << "Implementation: " << this->implementation()
<< ", Vector Length: " << vector_length_ << ", Vector Length: " << vector_length_
<< ", Samples per ms: " << samples_per_ms << ", Samples per ms: " << samples_per_ms
@ -224,7 +224,6 @@ signed int GpsL1CaPcpsQuickSyncAcquisition::mag()
void GpsL1CaPcpsQuickSyncAcquisition::init() void GpsL1CaPcpsQuickSyncAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
@ -232,14 +231,14 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
{ {
if (item_type_ == "gr_complex") if (item_type_ == "gr_complex")
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++) for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());
@ -267,7 +266,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_state(int state)
float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -186,7 +186,6 @@ signed int GpsL1CaPcpsTongAcquisition::mag()
void GpsL1CaPcpsTongAcquisition::init() void GpsL1CaPcpsTongAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code();
} }
@ -194,14 +193,14 @@ void GpsL1CaPcpsTongAcquisition::set_local_code()
{ {
if (item_type_ == "gr_complex") if (item_type_ == "gr_complex")
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_cc_->set_local_code(code_.data()); acquisition_cc_->set_local_code(code_.data());
@ -229,7 +228,7 @@ void GpsL1CaPcpsTongAcquisition::set_state(int state)
float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
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@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -211,6 +211,7 @@ void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_); acquisition_->set_doppler_step(doppler_step_);
} }
void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center) void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center)
{ {
doppler_center_ = doppler_center; doppler_center_ = doppler_center;
@ -218,6 +219,7 @@ void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center)
acquisition_->set_doppler_center(doppler_center_); acquisition_->set_doppler_center(doppler_center_);
} }
void GpsL2MPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GpsL2MPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -235,27 +237,26 @@ signed int GpsL2MPcpsAcquisition::mag()
void GpsL2MPcpsAcquisition::init() void GpsL2MPcpsAcquisition::init()
{ {
acquisition_->init(); acquisition_->init();
//set_local_code();
} }
void GpsL2MPcpsAcquisition::set_local_code() void GpsL2MPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs); gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
} }
else else
{ {
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, fs_in_); gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
} }
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++) for (unsigned int i = 0; i < num_codes_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());
@ -276,7 +277,7 @@ void GpsL2MPcpsAcquisition::set_state(int state)
float GpsL2MPcpsAcquisition::calculate_threshold(float pfa) float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {

2
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

11
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -46,13 +46,6 @@
#include <cmath> // for abs, pow, floor #include <cmath> // for abs, pow, floor
#include <complex> // for complex #include <complex> // for complex
#define NUM_PRNs 32
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga( GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
ConfigurationInterface* configuration, ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
@ -87,7 +80,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length)); float nbits = ceilf(log2f((float)code_length));
unsigned int nsamples_total = pow(2, nbits); unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0); unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga; acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0"; std::string default_device_name = "/dev/uio0";
@ -113,7 +105,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++) for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in_); gps_l2c_m_code_gen_complex_sampled(code, PRN, fs_in_);
// fill in zero padding // fill in zero padding
for (unsigned int s = code_length; s < nsamples_total; s++) for (unsigned int s = code_length; s < nsamples_total; s++)
{ {
@ -212,7 +204,6 @@ signed int GpsL2MPcpsAcquisitionFpga::mag()
void GpsL2MPcpsAcquisitionFpga::init() void GpsL2MPcpsAcquisitionFpga::init()
{ {
acquisition_fpga_->init(); acquisition_fpga_->init();
//set_local_code();
} }

7
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -156,6 +156,13 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t NUM_PRNs = 32;
static const uint32_t QUANT_BITS_LOCAL_CODE = 16;
static const uint32_t SELECT_LSBits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t SELECT_MSBbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t SELECT_ALL_CODE_BITS = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t SHL_CODE_BITS = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_; pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_; std::string item_type_;

14
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -206,6 +206,7 @@ void GpsL5iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_); acquisition_->set_doppler_step(doppler_step_);
} }
void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center) void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center)
{ {
doppler_center_ = doppler_center; doppler_center_ = doppler_center;
@ -213,6 +214,7 @@ void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center)
acquisition_->set_doppler_center(doppler_center_); acquisition_->set_doppler_center(doppler_center_);
} }
void GpsL5iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GpsL5iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -235,21 +237,21 @@ void GpsL5iPcpsAcquisition::init()
void GpsL5iPcpsAcquisition::set_local_code() void GpsL5iPcpsAcquisition::set_local_code()
{ {
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]}; std::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs); gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
} }
else else
{ {
gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, fs_in_); gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
} }
gsl::span<gr_complex> code_span(code_.data(), vector_length_); gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++) for (unsigned int i = 0; i < num_codes_; i++)
{ {
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
} }
acquisition_->set_local_code(code_.data()); acquisition_->set_local_code(code_.data());
@ -270,7 +272,7 @@ void GpsL5iPcpsAcquisition::set_state(int state)
float GpsL5iPcpsAcquisition::calculate_threshold(float pfa) float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold // Calculate the threshold
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_) for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{ {

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -8,7 +8,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

31
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -36,7 +36,6 @@
#include "GPS_L5.h" #include "GPS_L5.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l5_signal.h" #include "gps_l5_signal.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex #include <gnuradio/fft/fft.h> // for fft_complex
@ -47,17 +46,6 @@
#include <cmath> // for abs, pow, floor #include <cmath> // for abs, pow, floor
#include <complex> // for complex #include <complex> // for complex
#define NUM_PRNs 32
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga( GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
ConfigurationInterface* configuration, ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
@ -118,7 +106,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l5i_code_gen_complex_sampled(gsl::span<gr_complex>(code.data(), nsamples_total), PRN, fs_in); gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -150,10 +138,10 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// and package codes in a format that is ready to be written to the FPGA // and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++) for (uint32_t i = 0; i < nsamples_total; i++)
{ {
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)); tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS; fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data; d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
} }
} }
@ -208,6 +196,14 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
} }
void GpsL5iPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro) void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -226,6 +222,7 @@ void GpsL5iPcpsAcquisitionFpga::init()
acquisition_fpga_->init(); acquisition_fpga_->init();
} }
void GpsL5iPcpsAcquisitionFpga::set_local_code() void GpsL5iPcpsAcquisitionFpga::set_local_code()
{ {
acquisition_fpga_->set_local_code(); acquisition_fpga_->set_local_code();

55
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -27,7 +27,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
@ -36,15 +36,12 @@
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_ #define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
class Gnss_Synchro;
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
@ -54,13 +51,22 @@ class ConfigurationInterface;
class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface
{ {
public: public:
/*!
* \brief Constructor
*/
GpsL5iPcpsAcquisitionFpga(ConfigurationInterface* configuration, GpsL5iPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
/*!
* \brief Destructor
*/
~GpsL5iPcpsAcquisitionFpga() = default; ~GpsL5iPcpsAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override inline std::string role() override
{ {
return role_; return role_;
@ -74,14 +80,32 @@ public:
return "GPS_L5i_PCPS_Acquisition_Fpga"; return "GPS_L5i_PCPS_Acquisition_Fpga";
} }
/*!
* \brief Returns size of lv_16sc_t
*/
inline size_t item_size() override inline size_t item_size() override
{ {
return sizeof(lv_16sc_t); return sizeof(int16_t);
} }
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override; void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override; void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override; gr::basic_block_sptr get_right_block() override;
/*! /*!
@ -124,6 +148,11 @@ public:
*/ */
void set_doppler_step(unsigned int doppler_step) override; void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*! /*!
* \brief Initializes acquisition algorithm. * \brief Initializes acquisition algorithm.
*/ */
@ -154,9 +183,22 @@ public:
*/ */
void stop_acquisition() override; void stop_acquisition() override;
/*!
* \brief Set resampler latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t NUM_PRNs = 32;
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_; pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_; std::string item_type_;
@ -164,6 +206,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_; uint32_t doppler_max_;
uint32_t doppler_step_; uint32_t doppler_step_;
int32_t doppler_center_;
std::string dump_filename_; std::string dump_filename_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;

13
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -69,12 +69,13 @@ endif()
target_link_libraries(acquisition_gr_blocks target_link_libraries(acquisition_gr_blocks
PUBLIC PUBLIC
algorithms_libs algorithms_libs
acquisition_libs
channel_libs
core_system_parameters
Armadillo::armadillo
Gnuradio::runtime Gnuradio::runtime
Gnuradio::fft Gnuradio::fft
Volk::volk Volk::volk
channel_libs
acquisition_libs
core_system_parameters
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
@ -90,6 +91,12 @@ target_include_directories(acquisition_gr_blocks
${CMAKE_SOURCE_DIR}/src/core/receiver ${CMAKE_SOURCE_DIR}/src/core/receiver
) )
if(CMAKE_BUILD_TYPE MATCHES Rel)
target_compile_definitions(acquisition_gr_blocks
PUBLIC -DARMA_NO_BOUND_CHECKING=1
)
endif()
if(OPENCL_FOUND) if(OPENCL_FOUND)
target_link_libraries(acquisition_gr_blocks PUBLIC OpenCL::OpenCL) target_link_libraries(acquisition_gr_blocks PUBLIC OpenCL::OpenCL)
target_include_directories(acquisition_gr_blocks target_include_directories(acquisition_gr_blocks

2
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -12,7 +12,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -12,7 +12,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -10,7 +10,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

13
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -26,7 +26,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -52,6 +52,10 @@
#ifndef GNSS_SDR_PCPS_ACQUISITION_H_ #ifndef GNSS_SDR_PCPS_ACQUISITION_H_
#define GNSS_SDR_PCPS_ACQUISITION_H_ #define GNSS_SDR_PCPS_ACQUISITION_H_
#if ARMA_NO_BOUND_CHECKING
#define ARMA_NO_DEBUG 1
#endif
#include "acq_conf.h" #include "acq_conf.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include <armadillo> #include <armadillo>
@ -61,6 +65,7 @@
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/thread/thread.h> // for scoped_lock #include <gnuradio/thread/thread.h> // for scoped_lock
#include <gnuradio/types.h> // for gr_vector_const_void_star #include <gnuradio/types.h> // for gr_vector_const_void_star
#include <gsl/gsl> // for Guidelines Support Library
#include <volk/volk_complex.h> // for lv_16sc_t #include <volk/volk_complex.h> // for lv_16sc_t
#include <complex> #include <complex>
#include <cstdint> #include <cstdint>
@ -68,12 +73,6 @@
#include <string> #include <string>
#include <utility> #include <utility>
#include <vector> #include <vector>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
class Gnss_Synchro; class Gnss_Synchro;
class pcps_acquisition; class pcps_acquisition;

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

6
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -23,7 +23,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -49,6 +49,10 @@
#ifndef GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_ #ifndef GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
#define GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_ #define GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
#if ARMA_NO_BOUND_CHECKING
#define ARMA_NO_DEBUG 1
#endif
#include "acq_conf.h" #include "acq_conf.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"

18
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -40,8 +40,6 @@
#include <utility> // for move #include <utility> // for move
#define AQ_DOWNSAMPLING_DELAY 40 // delay due to the downsampling filter in the acquisition
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_) pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
{ {
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_))); return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_)));
@ -60,6 +58,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
d_num_doppler_bins = 0U; d_num_doppler_bins = 0U;
d_threshold = 0.0; d_threshold = 0.0;
d_doppler_step = 0U; d_doppler_step = 0U;
d_doppler_center = 0U;
d_doppler_index = 0U; d_doppler_index = 0U;
d_test_statistics = 0.0; d_test_statistics = 0.0;
d_channel = 0U; d_channel = 0U;
@ -141,7 +140,9 @@ void pcps_acquisition_fpga::send_positive_acquisition()
<< ", code phase " << d_gnss_synchro->Acq_delay_samples << ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz << ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag << ", magnitude " << d_mag
<< ", input signal power " << d_input_power; << ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
//the channel FSM is set, so, notify it directly the positive acquisition to minimize delays //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
d_channel_fsm.lock()->Event_valid_acquisition(); d_channel_fsm.lock()->Event_valid_acquisition();
@ -211,13 +212,6 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t
} }
} }
// debug
// if (d_test_statistics > d_threshold)
// {
// printf("firstpeak = %f, secondpeak = %f, test_statistics = %f reported block exp = %d PRN = %d inext = %d, initial_sample = %ld doppler = %d\n", firstpeak, secondpeak, d_test_statistics, (int)total_block_exp, (int)d_gnss_synchro->PRN, (int)indext, (long int)initial_sample, (int)doppler);
// printf("doppler_min = %d doppler_step = %d num_doppler_bins = %d\n", (int)doppler_min, (int)doppler_step, (int)num_doppler_bins);
// }
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler); d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_sample_counter = initial_sample; d_sample_counter = initial_sample;
@ -263,7 +257,7 @@ void pcps_acquisition_fpga::set_active(bool active)
acquisition_fpga->write_local_code(); acquisition_fpga->write_local_code();
acquisition_fpga->set_block_exp(d_total_block_exp); acquisition_fpga->set_block_exp(d_total_block_exp);
acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max); acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max + d_doppler_center);
if (!d_make_2_steps) if (!d_make_2_steps)
{ {
acquisition_fpga->close_device(); acquisition_fpga->close_device();
@ -290,7 +284,7 @@ void pcps_acquisition_fpga::set_active(bool active)
while (num_second_acq < d_max_num_acqs) while (num_second_acq < d_max_num_acqs)
{ {
acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2); acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2 + d_doppler_center);
if (d_test_statistics > d_threshold) if (d_test_statistics > d_threshold)
{ {
d_active = false; d_active = false;

22
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -44,7 +44,7 @@
#include "channel_fsm.h" #include "channel_fsm.h"
#include "fpga_acquisition.h" #include "fpga_acquisition.h"
#include <boost/shared_ptr.hpp> #include <boost/shared_ptr.hpp>
#include <volk/volk_complex.h> // for lv_16sc_t #include <glog/logging.h>
#include <cstdint> // for uint32_t #include <cstdint> // for uint32_t
#include <memory> // for shared_ptr #include <memory> // for shared_ptr
#include <string> // for string #include <string> // for string
@ -89,6 +89,9 @@ pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
class pcps_acquisition_fpga class pcps_acquisition_fpga
{ {
public: public:
/*!
* \brief Destructor
*/
~pcps_acquisition_fpga() = default; ~pcps_acquisition_fpga() = default;
/*! /*!
@ -116,7 +119,6 @@ public:
/*! /*!
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/ */
void set_local_code(); void set_local_code();
@ -181,6 +183,19 @@ public:
acquisition_fpga->set_doppler_step(doppler_step); acquisition_fpga->set_doppler_step(doppler_step);
} }
/*!
* \brief Set Doppler center frequency for the grid search. It will refresh the Doppler grid.
* \param doppler_center - Frequency center of the search grid [Hz].
*/
inline void set_doppler_center(int32_t doppler_center)
{
if (doppler_center != d_doppler_center)
{
DLOG(INFO) << " Doppler assistance for Channel: " << d_channel << " => Doppler: " << doppler_center << "[Hz]";
d_doppler_center = doppler_center;
}
}
/*! /*!
* \brief This function triggers a HW reset of the FPGA PL. * \brief This function triggers a HW reset of the FPGA PL.
*/ */
@ -194,6 +209,7 @@ private:
uint32_t d_doppler_index; uint32_t d_doppler_index;
uint32_t d_channel; uint32_t d_channel;
uint32_t d_doppler_step; uint32_t d_doppler_step;
int32_t d_doppler_center;
uint32_t d_doppler_max; uint32_t d_doppler_max;
uint32_t d_fft_size; uint32_t d_fft_size;
uint32_t d_num_doppler_bins; uint32_t d_num_doppler_bins;
@ -216,7 +232,7 @@ private:
std::weak_ptr<ChannelFsm> d_channel_fsm; std::weak_ptr<ChannelFsm> d_channel_fsm;
void send_negative_acquisition(); void send_negative_acquisition();
void send_positive_acquisition(); void send_positive_acquisition();
void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_max); void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_min);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step); float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
}; };

2
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver

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