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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 12:40:35 +00:00
Add try-catch block to hybrid observables
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parent
8885333aa7
commit
28cc4a1a05
@ -33,9 +33,10 @@
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#include "gnss_synchro.h"
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#include <gnuradio/io_signature.h>
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gnss_sdr_sample_counter::gnss_sdr_sample_counter (double _fs) : gr::sync_decimator("sample_counter",
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gnss_sdr_sample_counter::gnss_sdr_sample_counter(double _fs) : gr::sync_decimator("sample_counter",
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gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), floor(_fs*0.001))
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
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static_cast<unsigned int>(floor(_fs * 0.001)))
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{
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this->message_port_register_out(pmt::mp("sample_counter"));
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current_T_rx_ms = 0;
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@ -44,14 +45,14 @@ gnss_sdr_sample_counter::gnss_sdr_sample_counter (double _fs) : gr::sync_decimat
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}
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gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter (double _fs)
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gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs)
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{
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gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs));
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return sample_counter_;
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}
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int gnss_sdr_sample_counter::work (int noutput_items __attribute__((unused)),
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int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
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gr_vector_const_void_star &input_items __attribute__((unused)),
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gr_vector_void_star &output_items)
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{
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@ -60,7 +61,7 @@ int gnss_sdr_sample_counter::work (int noutput_items __attribute__((unused)),
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if ((current_T_rx_ms % report_interval_ms) == 0)
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{
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std::cout << "Current receiver time: " << static_cast<double>(current_T_rx_ms) / 1000.0 << " [s]" << std::endl;
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if(flag_enable_send_msg == true)
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if(flag_enable_send_msg)
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{
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this->message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
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}
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@ -28,8 +28,8 @@
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_sample_counter_H_
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#define GNSS_SDR_sample_counter_H_
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#ifndef GNSS_SDR_SAMPLE_COUNTER_H_
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#define GNSS_SDR_SAMPLE_COUNTER_H_
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#include <gnuradio/sync_decimator.h>
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#include <boost/shared_ptr.hpp>
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@ -39,20 +39,23 @@ class gnss_sdr_sample_counter;
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typedef boost::shared_ptr<gnss_sdr_sample_counter> gnss_sdr_sample_counter_sptr;
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gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter (double _fs);
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gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
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class gnss_sdr_sample_counter : public gr::sync_decimator
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{
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friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
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gnss_sdr_sample_counter (double _fs);
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private:
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gnss_sdr_sample_counter(double _fs);
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long long int current_T_rx_ms;
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int report_interval_ms;
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bool flag_enable_send_msg;
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public:
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friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
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int work(int noutput_items,
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gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items);
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};
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#endif /*GNSS_SDR_sample_counter_H_*/
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#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/
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@ -39,12 +39,8 @@
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using google::LogMessage;
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HybridObservables::HybridObservables(ConfigurationInterface* configuration,
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std::string role,
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unsigned int in_streams,
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unsigned int out_streams) :
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role_(role),
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in_streams_(in_streams),
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out_streams_(out_streams)
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std::string role, unsigned int in_streams, unsigned int out_streams) :
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role_(role), in_streams_(in_streams), out_streams_(out_streams)
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{
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std::string default_dump_filename = "./observables.dat";
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DLOG(INFO) << "role " << role;
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@ -61,18 +57,14 @@ HybridObservables::HybridObservables(ConfigurationInterface* configuration,
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}
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unsigned int history_deep = configuration->property(role + ".history_depth", default_depth);
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observables_ = hybrid_make_observables_cc(in_streams_, out_streams_, dump_, dump_filename_, history_deep);
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DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
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DLOG(INFO) << "Observables block ID (" << observables_->unique_id() << ")";
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}
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HybridObservables::~HybridObservables()
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{}
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void HybridObservables::connect(gr::top_block_sptr top_block)
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{
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if(top_block) { /* top_block is not null */};
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@ -81,7 +73,6 @@ void HybridObservables::connect(gr::top_block_sptr top_block)
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}
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void HybridObservables::disconnect(gr::top_block_sptr top_block)
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{
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if(top_block) { /* top_block is not null */};
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@ -89,16 +80,12 @@ void HybridObservables::disconnect(gr::top_block_sptr top_block)
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}
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gr::basic_block_sptr HybridObservables::get_left_block()
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{
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return observables_;
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}
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gr::basic_block_sptr HybridObservables::get_right_block()
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{
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return observables_;
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@ -326,7 +326,7 @@ bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro& a, double b)
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}
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void hybrid_observables_cc::forecast (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
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void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
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{
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for(unsigned int i = 0; i < d_nchannels; i++)
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{
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@ -338,13 +338,11 @@ void hybrid_observables_cc::forecast (int noutput_items __attribute__((unused)),
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}
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int hybrid_observables_cc::general_work (int noutput_items ,
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gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items)
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int hybrid_observables_cc::general_work(int noutput_items, gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
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Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
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const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
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Gnss_Synchro** out = reinterpret_cast<Gnss_Synchro**>(&output_items[0]); // Get the output buffer pointer
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int n_outputs = 0;
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int n_consume[d_nchannels];
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double past_history_s = 100e-3;
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@ -363,19 +361,24 @@ int hybrid_observables_cc::general_work (int noutput_items ,
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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n_consume[i] = ninput_items[i]; // full throttle
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for (int j = 0; j < n_consume[i]; j++)
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for(int j = 0; j < n_consume[i]; j++)
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{
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d_gnss_synchro_history_queue[i].push_back(in[i][j]);
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}
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}
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bool channel_history_ok;
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do
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{
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try
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{
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channel_history_ok = true;
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for (unsigned int i = 0; i < d_nchannels; i++)
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for(unsigned int i = 0; i < d_nchannels; i++)
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{
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if (d_gnss_synchro_history_queue[i].size() < history_deep && !d_gnss_synchro_history_queue[i].empty())
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if (d_gnss_synchro_history_queue.at(i).size() < history_deep && !d_gnss_synchro_history_queue.at(i).empty())
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{
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channel_history_ok = false;
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}
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@ -392,15 +395,15 @@ int hybrid_observables_cc::general_work (int noutput_items ,
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std::map<int,Gnss_Synchro> gnss_synchro_map;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (!d_gnss_synchro_history_queue[i].empty())
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if (!d_gnss_synchro_history_queue.at(i).empty())
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{
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gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID,
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d_gnss_synchro_history_queue[i].front()));
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gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue.at(i).front().Channel_ID,
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d_gnss_synchro_history_queue.at(i).front()));
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}
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}
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if (gnss_synchro_map.empty()) break;
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if(gnss_synchro_map.empty()) { break; } // Breaks the do-while loop
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gnss_synchro_map_iter = min_element(gnss_synchro_map.cbegin(),
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gnss_synchro_map_iter = std::min_element(gnss_synchro_map.cbegin(),
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gnss_synchro_map.cend(),
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Hybrid_pairCompare_gnss_synchro_sample_counter);
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T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_synchro_map_iter->second.fs);
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@ -414,13 +417,13 @@ int hybrid_observables_cc::general_work (int noutput_items ,
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// shift channels history to match the reference TOW
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (!d_gnss_synchro_history_queue[i].empty())
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if (!d_gnss_synchro_history_queue.at(i).empty())
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{
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gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].cbegin(),
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d_gnss_synchro_history_queue[i].cend(),
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gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue.at(i).cbegin(),
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d_gnss_synchro_history_queue.at(i).cend(),
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T_rx_s,
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Hybrid_valueCompare_gnss_synchro_receiver_time);
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if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].cend())
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if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue.at(i).cend())
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{
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if (gnss_synchro_deque_iter->Flag_valid_word == true)
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{
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@ -432,24 +435,24 @@ int hybrid_observables_cc::general_work (int noutput_items ,
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{
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// record the word structure in a map for pseudorange computation
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// save the previous observable
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int distance = std::distance(d_gnss_synchro_history_queue[i].cbegin(), gnss_synchro_deque_iter);
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int distance = std::distance(d_gnss_synchro_history_queue.at(i).cbegin(), gnss_synchro_deque_iter);
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if (distance > 0)
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{
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if (d_gnss_synchro_history_queue[i].at(distance - 1).Flag_valid_word)
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if (d_gnss_synchro_history_queue.at(i).at(distance - 1).Flag_valid_word)
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{
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double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
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double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue.at(i).at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
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double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
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if (fabs(delta_T_rx_s_prev) < fabs(delta_T_rx_s))
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{
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realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
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d_gnss_synchro_history_queue[i].at(distance - 1)));
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realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue.at(i).at(distance - 1).Channel_ID,
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d_gnss_synchro_history_queue.at(i).at(distance - 1)));
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adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
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}
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else
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{
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realigned_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(gnss_synchro_deque_iter->Channel_ID, *gnss_synchro_deque_iter));
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adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].at(distance - 1).Channel_ID,
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d_gnss_synchro_history_queue[i].at(distance - 1)));
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adjacent_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue.at(i).at(distance - 1).Channel_ID,
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d_gnss_synchro_history_queue.at(i).at(distance - 1)));
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}
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}
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@ -472,7 +475,7 @@ int hybrid_observables_cc::general_work (int noutput_items ,
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* common RX time algorithm
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*/
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// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
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gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.cbegin(),
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gnss_synchro_map_iter = std::max_element(realigned_gnss_synchro_map.cbegin(),
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realigned_gnss_synchro_map.cend(),
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Hybrid_pairCompare_gnss_synchro_d_TOW);
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double ref_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
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@ -575,20 +578,33 @@ int hybrid_observables_cc::general_work (int noutput_items ,
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}
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// Move RX time
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T_rx_s = T_rx_s + T_rx_step_s;
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T_rx_s += T_rx_step_s;
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// pop old elements from queue
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (!d_gnss_synchro_history_queue[i].empty())
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if (!d_gnss_synchro_history_queue.at(i).empty())
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{
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while (static_cast<double>(d_gnss_synchro_history_queue[i].front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue[i].front().fs) < (T_rx_s - past_history_s))
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while (static_cast<double>(d_gnss_synchro_history_queue.at(i).front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue.at(i).front().fs) < (T_rx_s - past_history_s))
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{
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d_gnss_synchro_history_queue[i].pop_front();
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d_gnss_synchro_history_queue.at(i).pop_front();
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}
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}
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}
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}
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} while(channel_history_ok == true && noutput_items > n_outputs);
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}// End of try{...}
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catch(std::out_of_range& e)
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{
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LOG(WARNING) << "Out of range exception thrown by Hybrid Observables block. Exception message: " << e.what();
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std::cout << "Out of range exception thrown by Hybrid Observables block. Exception message: " << e.what() << std::endl;
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}
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catch(...)
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{
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LOG(WARNING) << "Undefined exception thrown by Hybrid Observables block.";
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std::cout << "Undefined exception thrown by Hybrid Observables block." << std::endl;
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}
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}while(channel_history_ok == true && noutput_items > n_outputs);
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// Multi-rate consume!
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for (unsigned int i = 0; i < d_nchannels; i++)
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