diff --git a/src/algorithms/observables/adapters/CMakeLists.txt b/src/algorithms/observables/adapters/CMakeLists.txt index 882b22d83..5129e4157 100644 --- a/src/algorithms/observables/adapters/CMakeLists.txt +++ b/src/algorithms/observables/adapters/CMakeLists.txt @@ -26,7 +26,6 @@ include_directories( ${CMAKE_SOURCE_DIR}/src/core/interfaces ${CMAKE_SOURCE_DIR}/src/core/receiver ${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks - ${CMAKE_SOURCE_DIR}/src/algorithms/libs ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs ${GLOG_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS} diff --git a/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt b/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt index e3db8ebcf..98b8213d8 100644 --- a/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt @@ -39,8 +39,8 @@ list(SORT OBS_GR_BLOCKS_HEADERS) add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS}) if(MATIO_FOUND) - add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE}) + add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE}) else(MATIO_FOUND) - add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION}) + add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION}) endif(MATIO_FOUND) -target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES}) +target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES}) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index a7142d635..a60318772 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -67,7 +67,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, d_latency = 0.08; // 80 ms valid_channels.resize(d_nchannels, false); d_num_valid_channels = 0; - d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0), d_nchannels); + + for (unsigned int i = 0; i < d_nchannels; i++) + { + d_gnss_synchro_history.push_back(std::deque()); + } // ############# ENABLE DATA FILE LOG ################# if (d_dump) @@ -300,29 +304,40 @@ int hybrid_observables_cc::save_matfile() } -bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti) +bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque &data, const double &ti) { - if ((ti < d_gnss_synchro_history->front(ch).RX_time) or (ti > d_gnss_synchro_history->back(ch).RX_time)) + if ((ti < data.front().RX_time) or (ti > data.back().RX_time)) { return false; } - std::pair ind = find_interp_elements(ch, ti); + std::deque::iterator it; - //Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1) + arma::vec t = arma::vec(data.size()); + arma::vec dop = t; + arma::vec cph = t; + arma::vec tow = t; + arma::vec tiv = arma::vec(1); + arma::vec result; + tiv(0) = ti; - // CARRIER PHASE INTERPOLATION + unsigned int aux = 0; + for (it = data.begin(); it != data.end(); it++) + { + t(aux) = it->RX_time; + dop(aux) = it->Carrier_Doppler_hz; + cph(aux) = it->Carrier_phase_rads; + tow(aux) = it->TOW_at_current_symbol_s; - out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, ind.second).Carrier_phase_rads - d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time); + aux++; + } + arma::interp1(t, dop, tiv, result); + out.Carrier_Doppler_hz = result(0); + arma::interp1(t, cph, tiv, result); + out.Carrier_phase_rads = result(0); + arma::interp1(t, tow, tiv, result); + out.TOW_at_current_symbol_s = result(0); - // CARRIER DOPPLER INTERPOLATION - - out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, ind.second).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time); - - // TOW INTERPOLATION - - out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, ind.second).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time); - - return true; + return result.is_finite(); } @@ -338,40 +353,6 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a) } } -std::pair hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti) -{ - unsigned int closest = 0; - double dif = std::numeric_limits::max(); - double dt = 0.0; - for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++) - { - dt = ti - d_gnss_synchro_history->at(ch, i).RX_time; - if (dt < dif and dt > 0.0) - { - dif = dt; - closest = i; - } - } - unsigned int index1; - unsigned int index2; - if (closest == 0) - { - index1 = 0; - index2 = 1; - } - else if (closest == (d_gnss_synchro_history->size(ch) - 1)) - { - index1 = d_gnss_synchro_history->size(ch) - 2; - index2 = d_gnss_synchro_history->size(ch) - 1; - } - else - { - index1 = closest; - index2 = closest + 1; - } - return std::pair(index1, index2); -} - void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required) @@ -384,13 +365,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), } -void hybrid_observables_cc::clean_history(unsigned int pos) +void hybrid_observables_cc::clean_history(std::deque &data) { - while (d_gnss_synchro_history->size(pos) > 0) + while (data.size() > 0) { - if ((T_rx_s - d_gnss_synchro_history->front(pos).RX_time) > max_delta) + if ((T_rx_s - data.front().RX_time) > max_delta) { - d_gnss_synchro_history->pop_front(pos); + data.pop_front(); } else { @@ -475,9 +456,11 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) } ////////////////////////////////////////////////////////////////////////// + std::vector>::iterator it; if (total_input_items > 0) { - for (i = 0; i < d_nchannels; i++) + i = 0; + for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++) { if (ninput_items[i] > 0) { @@ -486,25 +469,26 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) { if (in[i][aux].Flag_valid_word) { - d_gnss_synchro_history->push_back(i, in[i][aux]); - d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]); + it->push_back(in[i][aux]); + it->back().RX_time = compute_T_rx_s(in[i][aux]); // Check if the last Gnss_Synchro comes from the same satellite as the previous ones - if (d_gnss_synchro_history->size(i) > 1) + if (it->size() > 1) { - if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN) + if (it->front().PRN != it->back().PRN) { - d_gnss_synchro_history->clear(i); + it->clear(); } } } } consume(i, ninput_items[i]); } + i++; } } for (i = 0; i < d_nchannels; i++) { - if (d_gnss_synchro_history->size(i) > 2) + if (d_gnss_synchro_history.at(i).size() > 2) { valid_channels[i] = true; } @@ -524,8 +508,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) { if (valid_channels[i]) { - clean_history(i); - if (d_gnss_synchro_history->size(i) < 2) + clean_history(d_gnss_synchro_history.at(i)); + if (d_gnss_synchro_history.at(i).size() < 2) { valid_channels[i] = false; } @@ -541,12 +525,13 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) } std::vector epoch_data; - for (i = 0; i < d_nchannels; i++) + i = 0; + for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++) { if (valid_channels[i]) { - Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i); - if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out)) + Gnss_Synchro interpolated_gnss_synchro = it->back(); + if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out)) { epoch_data.push_back(interpolated_gnss_synchro); } @@ -555,6 +540,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) valid_channels[i] = false; } } + i++; } d_num_valid_channels = valid_channels.count(); if (d_num_valid_channels == 0) @@ -562,14 +548,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) return 0; } correct_TOW_and_compute_prange(epoch_data); - std::vector::iterator it = epoch_data.begin(); + std::vector::iterator it2 = epoch_data.begin(); for (i = 0; i < d_nchannels; i++) { if (valid_channels[i]) { - out[i][0] = (*it); + out[i][0] = (*it2); out[i][0].Flag_valid_pseudorange = true; - it++; + it2++; } else { diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h index 64f929857..8d48fc3fa 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h @@ -35,12 +35,12 @@ #define GNSS_SDR_HYBRID_OBSERVABLES_CC_H #include "gnss_synchro.h" -#include "gnss_circular_deque.h" #include #include #include #include -#include +#include +#include class hybrid_observables_cc; @@ -65,15 +65,14 @@ private: friend hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename); hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename); - void clean_history(unsigned int pos); + void clean_history(std::deque& data); double compute_T_rx_s(const Gnss_Synchro& a); - bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti); - std::pair find_interp_elements(const unsigned int& ch, const double& ti); + bool interpolate_data(Gnss_Synchro& out, std::deque& data, const double& ti); void correct_TOW_and_compute_prange(std::vector& data); int save_matfile(); //Tracking observable history - Gnss_circular_deque* d_gnss_synchro_history; + std::vector> d_gnss_synchro_history; boost::dynamic_bitset<> valid_channels; double T_rx_s; double T_rx_step_s; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 580bc8bdc..09f4e2621 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -105,6 +105,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( flag_PLL_180_deg_phase_locked = false; d_preamble_time_samples = 0; d_TOW_at_current_symbol_ms = 0; + d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS + 1); // Change fixed buffer size + d_symbol_history.clear(); // Clear all the elements in the buffer } @@ -395,11 +397,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ } } - // remove used symbols from history - if (d_symbol_history.size() > required_symbols) - { - d_symbol_history.pop_front(); - } //3. Make the output (copy the object contents to the GNURadio reserved memory) *out[0] = current_symbol; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h index 8904f7e85..22a9526a2 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h @@ -36,9 +36,9 @@ #include "gnss_satellite.h" #include "gnss_synchro.h" #include -#include #include #include +#include class gps_l1_ca_telemetry_decoder_cc; @@ -79,7 +79,7 @@ private: bool d_flag_frame_sync; // symbols - std::deque d_symbol_history; + boost::circular_buffer d_symbol_history; double d_symbol_accumulator; short int d_symbol_accumulator_counter;