mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-21 12:33:15 +00:00
Move constructor to the header file to make portability easier
Avoid magic numbers Fix clang-tidy warning. Was: performance-inefficient-string-concatenation
This commit is contained in:
Carles Fernandez
parent
a7210933b4
commit
64b0fbe70d
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@ -85,18 +85,18 @@ target_link_libraries(core_libs
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Gnuradio::runtime
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Gnuradio::pmt
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protobuf::libprotobuf
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algorithms_libs
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core_libs_supl
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core_system_parameters
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pvt_libs
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PRIVATE
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algorithms_libs
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Boost::serialization
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Gflags::gflags
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Glog::glog
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Pugixml::pugixml
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)
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if(USE_GENERIC_LAMBDAS AND NOT GNURADIO_USES_STD_POINTERS)
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if(NOT USE_GENERIC_LAMBDAS)
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target_link_libraries(core_libs PUBLIC Boost::headers)
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else()
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target_link_libraries(core_libs PRIVATE Boost::headers)
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@ -117,20 +117,20 @@ if(USE_GENERIC_LAMBDAS)
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set(has_generic_lambdas HAS_GENERIC_LAMBDA=1)
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set(no_has_generic_lambdas HAS_GENERIC_LAMBDA=0)
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target_compile_definitions(core_libs
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PRIVATE
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PUBLIC
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"$<$<COMPILE_FEATURES:cxx_generic_lambdas>:${has_generic_lambdas}>"
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"$<$<NOT:$<COMPILE_FEATURES:cxx_generic_lambdas>>:${no_has_generic_lambdas}>"
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)
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else()
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target_compile_definitions(core_libs
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PRIVATE
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PUBLIC
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-DHAS_GENERIC_LAMBDA=0
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)
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endif()
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if(USE_BOOST_BIND_PLACEHOLDERS)
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target_compile_definitions(core_libs
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PRIVATE
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PUBLIC
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-DUSE_BOOST_BIND_PLACEHOLDERS=1
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)
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endif()
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@ -19,24 +19,15 @@
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#include "galileo_e6_has_msg_receiver.h"
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#include "display.h" // for colors in terminal
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#include "galileo_has_page.h" // for Galileo_HAS_page
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#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
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#include "reed_solomon.h" // for ReedSolomon
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#include <boost/any.hpp>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <algorithm> // for std::find, std::count
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#include <cstddef> // for size_t
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#include <iterator> // for std::back_inserter
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#include <sstream> // for std::stringstream
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#include <stdexcept> // for std::out_of_range
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#include <typeinfo> // for typeid
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#include "display.h" // for colors in terminal
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#include <boost/any.hpp> // for boost::any_cast
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#include <glog/logging.h> // for DLOG
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#include <algorithm> // for std::find, std::count
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#include <cstddef> // for size_t
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#include <iterator> // for std::back_inserter
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#include <sstream> // for std::stringstream
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#include <stdexcept> // for std::out_of_range
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#include <typeinfo> // for typeid
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galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make()
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@ -45,52 +36,6 @@ galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make()
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}
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galileo_e6_has_msg_receiver::galileo_e6_has_msg_receiver() : gr::block("galileo_e6_has_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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// register Gal E6 HAS input message port from telemetry blocks
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this->message_port_register_in(pmt::mp("E6_HAS_from_TLM"));
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// register nav message monitor out
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this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
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this->set_msg_handler(pmt::mp("E6_HAS_from_TLM"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_galileo_e6_has(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, boost::placeholders::_1));
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#else
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boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, _1));
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#endif
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#endif
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// register Gal E6 processed HAS async output message port towards PVT
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this->message_port_register_out(pmt::mp("E6_HAS_to_PVT"));
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// initialize Reed-Solomon decoder
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d_rs = std::make_unique<ReedSolomon>();
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// Reserve memory for decoding matrices and received PIDs
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d_C_matrix = std::vector<std::vector<std::vector<uint8_t>>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE))); // 32 x 255 x 53
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d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)); // HAS message matrix 32 x 53
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d_received_pids = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint8_t>());
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// Reserve memory to store masks
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d_nsat_in_mask_id = std::vector<int>(HAS_MSG_NUMBER_MASK_IDS);
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d_gnss_id_in_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
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d_satellite_mask = std::vector<std::vector<uint64_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint64_t>(HAS_MSG_NUMBER_GNSS_IDS));
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d_signal_mask = std::vector<std::vector<uint16_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint16_t>(HAS_MSG_NUMBER_GNSS_IDS));
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d_cell_mask_availability_flag = std::vector<std::vector<bool>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<bool>(HAS_MSG_NUMBER_GNSS_IDS));
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d_cell_mask = std::vector<std::vector<std::vector<std::vector<bool>>>>(HAS_MSG_NUMBER_MASK_IDS, {HAS_MSG_NUMBER_GNSS_IDS, {HAS_MSG_NUMBER_SATELLITE_IDS, std::vector<bool>(HAS_MSG_NUMBER_SIGNAL_MASKS)}});
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d_nsys_in_mask = std::vector<uint8_t>(HAS_MSG_NUMBER_MASK_IDS);
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d_nav_message_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
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// Initialize values for d_nav_msg_packet
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d_nav_msg_packet.system = std::string("E");
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d_nav_msg_packet.signal = std::string("E6");
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d_nav_msg_packet.prn = 0;
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d_nav_msg_packet.tow_at_current_symbol_ms = 0;
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}
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void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
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{
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d_enable_navdata_monitor = enable;
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@ -149,7 +94,7 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
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{
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if (has_page.message_type == 1) // contains satellite corrections
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{
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if (has_page.message_id < 32) // MID range is from 0 to 31
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if (has_page.message_id < HAS_MSG_NUMBER_MESSAGE_IDS) // MID range is from 0 to 31
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{
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if (std::find(d_received_pids[has_page.message_id].begin(), d_received_pids[has_page.message_id].end(), has_page.message_page_id) == d_received_pids[has_page.message_id].end())
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{
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@ -157,8 +102,9 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
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d_received_pids[has_page.message_id].push_back(has_page.message_page_id);
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for (int k = 0; k < GALILEO_CNAV_OCTETS_IN_SUBPAGE; k++)
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{
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std::string bits8 = page_string.substr(k * 8, 8);
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std::bitset<8> bs(bits8);
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constexpr int bits_in_octet = 8;
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std::string bits8 = page_string.substr(k * bits_in_octet, bits_in_octet);
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std::bitset<bits_in_octet> bs(bits8);
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d_C_matrix[has_page.message_id][has_page.message_page_id - 1][k] = static_cast<uint8_t>(bs.to_ulong());
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}
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}
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@ -192,10 +138,11 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
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int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_t message_size)
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{
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DLOG(INFO) << "Start decoding of a HAS message";
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constexpr int32_t max_erasure_positions = GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK - GALILEO_CNAV_INFORMATION_VECTOR_LENGTH; // 223 Maximum erasure positions ( = number of parity symbols in a block)
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// Compute erasure positions
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std::vector<int> erasure_positions;
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erasure_positions.reserve(223); // Maximum erasure positions ( = number of parity symbols in a block)
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erasure_positions.reserve(max_erasure_positions);
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for (uint8_t i = 1; i < message_size + 1; i++) // we know that from message_size to 32, the value is 0
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{
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@ -204,7 +151,7 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
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erasure_positions.push_back(i - 1);
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}
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}
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for (int i = 33; i < 256; i++)
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for (int i = GALILEO_CNAV_INFORMATION_VECTOR_LENGTH + 1; i < GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK + 1; i++) // from 33 to 255
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{
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if (std::find(d_received_pids[message_id].begin(), d_received_pids[message_id].end(), static_cast<uint8_t>(i)) == d_received_pids[message_id].end())
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{
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@ -212,7 +159,7 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
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}
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}
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if (erasure_positions.size() > 223)
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if (erasure_positions.size() > static_cast<size_t>(max_erasure_positions))
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{
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// This should not happen! Maybe message_size < PID < 33 ?
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// Don't even try to decode
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@ -587,11 +534,11 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
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{
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if ((aux & mask_value) >= 1)
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{
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binary = "1" + binary;
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binary.insert(0, "1");
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}
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else
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{
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binary = "0" + binary;
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binary.insert(0, "0");
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}
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aux <<= 1;
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}
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@ -20,26 +20,33 @@
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#ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
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#define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
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#include "Galileo_CNAV.h"
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#include "galileo_has_data.h"
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#include "gnss_block_interface.h"
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#include "nav_message_packet.h"
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#include <gnuradio/block.h>
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#include <pmt/pmt.h>
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#include <bitset>
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#include <cstdint>
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#include <memory> // for std::unique_ptr
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#include <string>
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#include <utility> // std::pair
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#include <vector>
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#include "Galileo_CNAV.h" // for GALILEO_CNAV_* and HAS_MSG_* constants
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#include "galileo_has_data.h" // for Galileo_HAS_data
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#include "galileo_has_page.h" // for Galileo_HAS_page
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#include "gnss_block_interface.h" // for gnss_shared_ptr
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#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
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#include "nav_message_packet.h" // for Nav_Message_Packet
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#include "reed_solomon.h" // for ReedSolomon
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#include <gnuradio/block.h> // for gr::block
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#include <gnuradio/io_signature.h> // for gr::io_signature::make
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#include <pmt/pmt.h> // for pmt::mp
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#include <bitset> // for std::bitset
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#include <cstdint> // for uint8_t, ...
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#include <memory> // for std::unique_ptr
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#include <string> // for std::string
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#include <utility> // std::pair
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#include <vector> // for std::vector
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp> // for boost::bind
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#endif
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/** \addtogroup Core
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* \{ */
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/** \addtogroup Core_Receiver_Library
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* \{ */
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class Galileo_HAS_page;
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class ReedSolomon;
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class galileo_e6_has_msg_receiver;
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using galileo_e6_has_msg_receiver_sptr = gnss_shared_ptr<galileo_e6_has_msg_receiver>;
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@ -60,7 +67,52 @@ public:
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private:
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friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
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galileo_e6_has_msg_receiver();
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inline galileo_e6_has_msg_receiver() : gr::block("galileo_e6_has_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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// register Gal E6 HAS input message port from telemetry blocks
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this->message_port_register_in(pmt::mp("E6_HAS_from_TLM"));
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// register nav message monitor out
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this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
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this->set_msg_handler(pmt::mp("E6_HAS_from_TLM"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_galileo_e6_has(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, boost::placeholders::_1));
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#else
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boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, _1));
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#endif
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#endif
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// register Gal E6 processed HAS async output message port towards PVT
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this->message_port_register_out(pmt::mp("E6_HAS_to_PVT"));
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// initialize Reed-Solomon decoder
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d_rs = std::make_unique<ReedSolomon>();
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// Reserve memory for decoding matrices and received PIDs
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d_C_matrix = std::vector<std::vector<std::vector<uint8_t>>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE))); // 32 x 255 x 53
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d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)); // HAS message matrix 32 x 53
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d_received_pids = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint8_t>());
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// Reserve memory to store masks
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d_nsat_in_mask_id = std::vector<int>(HAS_MSG_NUMBER_MASK_IDS);
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d_gnss_id_in_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
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d_satellite_mask = std::vector<std::vector<uint64_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint64_t>(HAS_MSG_NUMBER_GNSS_IDS));
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d_signal_mask = std::vector<std::vector<uint16_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint16_t>(HAS_MSG_NUMBER_GNSS_IDS));
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d_cell_mask_availability_flag = std::vector<std::vector<bool>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<bool>(HAS_MSG_NUMBER_GNSS_IDS));
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d_cell_mask = std::vector<std::vector<std::vector<std::vector<bool>>>>(HAS_MSG_NUMBER_MASK_IDS, {HAS_MSG_NUMBER_GNSS_IDS, {HAS_MSG_NUMBER_SATELLITE_IDS, std::vector<bool>(HAS_MSG_NUMBER_SIGNAL_MASKS)}});
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d_nsys_in_mask = std::vector<uint8_t>(HAS_MSG_NUMBER_MASK_IDS);
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d_nav_message_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
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// Initialize values for d_nav_msg_packet
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d_nav_msg_packet.system = std::string("E");
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d_nav_msg_packet.signal = std::string("E6");
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d_nav_msg_packet.prn = 0;
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d_nav_msg_packet.tow_at_current_symbol_ms = 0;
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};
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void msg_handler_galileo_e6_has(const pmt::pmt_t& msg);
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void process_HAS_page(const Galileo_HAS_page& has_page);
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void read_MT1_header(const std::string& message_header);
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@ -85,7 +137,7 @@ private:
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std::unique_ptr<ReedSolomon> d_rs;
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Galileo_HAS_data d_HAS_data{};
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Nav_Message_Packet d_nav_msg_packet;
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Nav_Message_Packet d_nav_msg_packet{};
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// Store decoding matrices and received PIDs
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std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix;
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