Merge branch 'next' into speed_up_observables

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}

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})

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<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels);
+
+    for (unsigned int i = 0; i < d_nchannels; i++)
+        {
+            d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
+        }
 
     // ############# 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<Gnss_Synchro> &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<unsigned int, unsigned int> ind = find_interp_elements(ch, ti);
+    std::deque<Gnss_Synchro>::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
+    return result.is_finite();
-
-    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;
 }
 
 
@@ -338,40 +353,6 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
         }
 }
 
-std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
-{
-    unsigned int closest = 0;
-    double dif = std::numeric_limits<double>::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<unsigned int, unsigned int>(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<Gnss_Synchro> &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<std::deque<Gnss_Synchro>>::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]);
+                                            it->push_back(in[i][aux]);
-                                            d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(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);
+                    clean_history(d_gnss_synchro_history.at(i));
-                    if (d_gnss_synchro_history->size(i) < 2)
+                    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<Gnss_Synchro> 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);
+                    Gnss_Synchro interpolated_gnss_synchro = it->back();
-                    if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
+                    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<Gnss_Synchro>::iterator it = epoch_data.begin();
+    std::vector<Gnss_Synchro>::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
                 {

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 <gnuradio/block.h>
 #include <boost/dynamic_bitset.hpp>
 #include <fstream>
 #include <string>
-#include <utility>
+#include <vector>
+#include <deque>
 
 
 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<Gnss_Synchro>& data);
     double compute_T_rx_s(const Gnss_Synchro& a);
-    bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
+    bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
-    std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti);
     void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
     int save_matfile();
 
     //Tracking observable history
-    Gnss_circular_deque<Gnss_Synchro>* d_gnss_synchro_history;
+    std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
     boost::dynamic_bitset<> valid_channels;
     double T_rx_s;
     double T_rx_step_s;

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;
 

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 <gnuradio/block.h>
-#include <deque>
 #include <fstream>
 #include <string>
+#include <boost/circular_buffer.hpp>
 
 class gps_l1_ca_telemetry_decoder_cc;
 
@@ -79,7 +79,7 @@ private:
     bool d_flag_frame_sync;
 
     // symbols
-    std::deque<Gnss_Synchro> d_symbol_history;
+    boost::circular_buffer<Gnss_Synchro> d_symbol_history;
 
     double d_symbol_accumulator;
     short int d_symbol_accumulator_counter;