mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 07:13:03 +00:00
Merge pull request #148 from antonioramosdet/speed_up_observables
Modify observables history
This commit is contained in:
Javier Arribas
@@ -361,7 +361,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS ${GNSSSDR_GCC_MIN_VERSION})
|
||||
endif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
execute_process(COMMAND
|
||||
${CMAKE_CXX_COMPILER} -v
|
||||
RESULT_VARIABLE _res ERROR_VARIABLE _err
|
||||
@@ -388,7 +388,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
||||
else(${_res} STREQUAL "0")
|
||||
message(WARNING "\nCannot determine the version of the compiler selected to build GNSS-SDR (${APPLE_STR}Clang : ${CMAKE_CXX_COMPILER}). This build may or not work. We highly recommend using Apple Clang version ${APPLECLANG_MIN_VERSION} or more recent, or Clang version ${CLANG_MIN_VERSION} or more recent.")
|
||||
endif(${_res} STREQUAL "0")
|
||||
endif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
||||
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
|
||||
|
||||
|
||||
@@ -784,7 +784,7 @@ if (NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
|
||||
set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
|
||||
endif(${LOCAL_GFLAGS})
|
||||
|
||||
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
"#!/bin/sh
|
||||
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
|
||||
@@ -800,7 +800,7 @@ autoreconf -vfi
|
||||
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure")
|
||||
|
||||
else("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
|
||||
else(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
"#!/bin/sh
|
||||
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
|
||||
@@ -813,7 +813,7 @@ autoreconf -vfi
|
||||
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure")
|
||||
|
||||
endif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
|
||||
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
|
||||
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
@@ -1459,39 +1459,51 @@ endif(ENABLE_GPROF)
|
||||
########################################################################
|
||||
# Set compiler flags
|
||||
########################################################################
|
||||
# Enable C++14 support in GCC / Fallback to C++11 when using GCC < 6.1.1
|
||||
# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
|
||||
# Enable C++14 support in GCC >= 6.1.1
|
||||
# Fallback to C++11 when using GCC < 6.1.1
|
||||
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
|
||||
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
# if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
# else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
|
||||
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
|
||||
# endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
|
||||
endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
|
||||
|
||||
# Enable C++14 support in Clang from 3.5 / Fallback to C++11 if older version and use lib++ if working in macOS
|
||||
# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
|
||||
# Enable C++14 support in Clang >= 3.5.0 or AppleClang >= 600
|
||||
# Fallback to C++11 if older version
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
if(OS_IS_MACOSX)
|
||||
# See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences
|
||||
if(CLANG_VERSION VERSION_LESS "600")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
|
||||
else(CLANG_VERSION VERSION_LESS "600")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
# if(CLANG_VERSION VERSION_LESS "900")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
# else(CLANG_VERSION VERSION_LESS "900")
|
||||
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
|
||||
# endif(CLANG_VERSION VERSION_LESS "900")
|
||||
endif(CLANG_VERSION VERSION_LESS "600")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wno-deprecated-declarations")
|
||||
else(OS_IS_MACOSX)
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
|
||||
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
# if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
# else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
|
||||
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
|
||||
# endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
|
||||
endif(OS_IS_MACOSX)
|
||||
|
||||
if(CMAKE_BUILD_TYPE MATCHES "Release")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wno-unused-private-field")
|
||||
endif(CMAKE_BUILD_TYPE MATCHES "Release")
|
||||
if(OS_IS_MACOSX)
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -stdlib=libc++")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -stdlib=libc++")
|
||||
endif(OS_IS_MACOSX)
|
||||
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
|
||||
|
||||
213
src/algorithms/libs/gnss_circular_deque.h
Normal file
213
src/algorithms/libs/gnss_circular_deque.h
Normal file
@@ -0,0 +1,213 @@
|
||||
/*!
|
||||
* \file gnss_circular_deque.h
|
||||
* \brief This class implements a circular deque for Gnss_Synchro
|
||||
*
|
||||
* \author Luis Esteve, 2018. antonio.ramos(at)cttc.es
|
||||
*
|
||||
* Detailed description of the file here if needed.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_CIRCULAR_DEQUE_H_
|
||||
#define GNSS_SDR_CIRCULAR_DEQUE_H_
|
||||
|
||||
template <class T>
|
||||
class Gnss_circular_deque
|
||||
{
|
||||
public:
|
||||
Gnss_circular_deque();
|
||||
Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann);
|
||||
~Gnss_circular_deque();
|
||||
unsigned int size(const unsigned int ch);
|
||||
T& at(const unsigned int ch, const unsigned int pos);
|
||||
T& front(const unsigned int ch);
|
||||
T& back(const unsigned int ch);
|
||||
void push_back(const unsigned int ch, const T& new_data);
|
||||
T pop_front(const unsigned int ch);
|
||||
void clear(const unsigned int ch);
|
||||
T* get_vector(const unsigned int ch);
|
||||
|
||||
private:
|
||||
T** d_history;
|
||||
T d_return_void; // Void object for avoid compiler errors
|
||||
unsigned int* d_index_pop;
|
||||
unsigned int* d_index_push;
|
||||
unsigned int* d_size;
|
||||
unsigned int d_max_size;
|
||||
unsigned int d_nchannels;
|
||||
};
|
||||
|
||||
|
||||
template <class T>
|
||||
Gnss_circular_deque<T>::Gnss_circular_deque()
|
||||
{
|
||||
d_max_size = 0;
|
||||
d_nchannels = 0;
|
||||
d_size = nullptr;
|
||||
d_index_pop = nullptr;
|
||||
d_index_push = nullptr;
|
||||
d_history = nullptr;
|
||||
}
|
||||
|
||||
template <class T>
|
||||
Gnss_circular_deque<T>::Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann)
|
||||
{
|
||||
d_max_size = max_size;
|
||||
d_nchannels = nchann;
|
||||
if (d_max_size > 0 and d_nchannels > 0)
|
||||
{
|
||||
d_size = new unsigned int[d_nchannels];
|
||||
d_index_pop = new unsigned int[d_nchannels];
|
||||
d_index_push = new unsigned int[d_nchannels];
|
||||
d_history = new T*[d_nchannels];
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
d_size[i] = 0;
|
||||
d_index_pop[i] = 0;
|
||||
d_index_push[i] = 0;
|
||||
d_history[i] = new T[d_max_size];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
Gnss_circular_deque<T>::~Gnss_circular_deque()
|
||||
{
|
||||
if (d_max_size > 0 and d_nchannels > 0)
|
||||
{
|
||||
delete[] d_size;
|
||||
delete[] d_index_pop;
|
||||
delete[] d_index_push;
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
delete[] d_history[i];
|
||||
}
|
||||
delete[] d_history;
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
unsigned int Gnss_circular_deque<T>::size(const unsigned int ch)
|
||||
{
|
||||
return d_size[ch];
|
||||
}
|
||||
|
||||
template <class T>
|
||||
T& Gnss_circular_deque<T>::back(const unsigned int ch)
|
||||
{
|
||||
if (d_size[ch] > 0)
|
||||
{
|
||||
unsigned int index = 0;
|
||||
if (d_index_push[ch] > 0)
|
||||
{
|
||||
index = d_index_push[ch] - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
index = d_max_size;
|
||||
}
|
||||
return d_history[ch][index];
|
||||
}
|
||||
else
|
||||
{
|
||||
return d_return_void;
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
T& Gnss_circular_deque<T>::front(const unsigned int ch)
|
||||
{
|
||||
if (d_size[ch] > 0)
|
||||
{
|
||||
return d_history[ch][d_index_pop[ch]];
|
||||
}
|
||||
else
|
||||
{
|
||||
return d_return_void;
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
T& Gnss_circular_deque<T>::at(const unsigned int ch, const unsigned int pos)
|
||||
{
|
||||
if (d_size[ch] > 0 and pos < d_size[ch])
|
||||
{
|
||||
unsigned int index = (d_index_pop[ch] + pos) % d_max_size;
|
||||
return d_history[ch][index];
|
||||
}
|
||||
else
|
||||
{
|
||||
return d_return_void;
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
void Gnss_circular_deque<T>::clear(const unsigned int ch)
|
||||
{
|
||||
d_size[ch] = 0;
|
||||
d_index_pop[ch] = 0;
|
||||
d_index_push[ch] = 0;
|
||||
}
|
||||
|
||||
template <class T>
|
||||
T Gnss_circular_deque<T>::pop_front(const unsigned int ch)
|
||||
{
|
||||
T result;
|
||||
if (d_size[ch] > 0)
|
||||
{
|
||||
d_size[ch]--;
|
||||
result = d_history[ch][d_index_pop[ch]];
|
||||
d_index_pop[ch]++;
|
||||
d_index_pop[ch] %= d_max_size;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
template <class T>
|
||||
void Gnss_circular_deque<T>::push_back(const unsigned int ch, const T& new_data)
|
||||
{
|
||||
d_history[ch][d_index_push[ch]] = new_data;
|
||||
d_index_push[ch]++;
|
||||
d_index_push[ch] %= d_max_size;
|
||||
if (d_size[ch] < d_max_size)
|
||||
{
|
||||
d_size[ch]++;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_index_pop[ch]++;
|
||||
d_index_pop[ch] %= d_max_size;
|
||||
}
|
||||
}
|
||||
|
||||
template <class T>
|
||||
T* Gnss_circular_deque<T>::get_vector(const unsigned int ch)
|
||||
{
|
||||
return d_history[ch];
|
||||
}
|
||||
|
||||
|
||||
#endif /* GNSS_SDR_CIRCULAR_DEQUE_H_ */
|
||||
@@ -27,9 +27,91 @@ enable_language(CXX)
|
||||
enable_language(C)
|
||||
enable_testing()
|
||||
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
|
||||
# Set compiler flags
|
||||
set(GNSSSDR_CLANG_MIN_VERSION "3.4.0")
|
||||
set(GNSSSDR_APPLECLANG_MIN_VERSION "500")
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
execute_process(COMMAND
|
||||
${CMAKE_CXX_COMPILER} -v
|
||||
RESULT_VARIABLE _res ERROR_VARIABLE _err
|
||||
ERROR_STRIP_TRAILING_WHITESPACE)
|
||||
if(${_res} STREQUAL "0")
|
||||
# output is in error stream
|
||||
string(REGEX MATCH "^Apple.*" IS_APPLE ${_err})
|
||||
if("${IS_APPLE}" STREQUAL "")
|
||||
set(MIN_VERSION ${GNSSSDR_CLANG_MIN_VERSION})
|
||||
set(APPLE_STR "")
|
||||
# retrieve the compiler's version from it
|
||||
string(REGEX MATCH "clang version [0-9.]+" CLANG_OTHER_VERSION ${_err})
|
||||
string(REGEX MATCH "[0-9.]+" CLANG_VERSION ${CLANG_OTHER_VERSION})
|
||||
else("${IS_APPLE}" STREQUAL "")
|
||||
set(MIN_VERSION ${GNSSSDR_APPLECLANG_MIN_VERSION})
|
||||
set(APPLE_STR "Apple ")
|
||||
# retrieve the compiler's version from it
|
||||
string(REGEX MATCH "(clang-[0-9.]+)" CLANG_APPLE_VERSION ${_err})
|
||||
string(REGEX MATCH "[0-9.]+" CLANG_VERSION ${CLANG_APPLE_VERSION})
|
||||
endif("${IS_APPLE}" STREQUAL "")
|
||||
if(${CLANG_VERSION} VERSION_LESS "${MIN_VERSION}")
|
||||
message(WARNING "\nThe compiler selected to build VOLK-GNSSSDR (${APPLE_STR}Clang version ${CLANG_VERSION} : ${CMAKE_CXX_COMPILER}) is older than that officially supported (${MIN_VERSION} minimum). This build may or not work. We highly recommend using Apple Clang version ${APPLECLANG_MIN_VERSION} or more recent, or Clang version ${CLANG_MIN_VERSION} or more recent.")
|
||||
endif(${CLANG_VERSION} VERSION_LESS "${MIN_VERSION}")
|
||||
else(${_res} STREQUAL "0")
|
||||
message(WARNING "\nCannot determine the version of the compiler selected to build VOLK-GNSSSDR (${APPLE_STR}Clang : ${CMAKE_CXX_COMPILER}). This build may or not work. We highly recommend using Apple Clang version ${APPLECLANG_MIN_VERSION} or more recent, or Clang version ${CLANG_MIN_VERSION} or more recent.")
|
||||
endif(${_res} STREQUAL "0")
|
||||
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
|
||||
# Enable C++17 support in GCC >= 8.0.0
|
||||
# Enable C++14 support in 8.0.0 > GCC >= 6.1.1
|
||||
# Fallback to C++11 when using GCC < 6.1.1
|
||||
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
|
||||
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
|
||||
endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
|
||||
|
||||
# Enable C++17 support in Clang >= 6.0.0 or AppleClang >= 900
|
||||
# Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or 900 > AppleClang >= 600
|
||||
# Fallback to C++11 if older version
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
if(CMAKE_SYSTEM_NAME MATCHES "Darwin")
|
||||
# See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences
|
||||
if(CLANG_VERSION VERSION_LESS "600")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
|
||||
else(CLANG_VERSION VERSION_LESS "600")
|
||||
if(CLANG_VERSION VERSION_LESS "900")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
else(CLANG_VERSION VERSION_LESS "900")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
|
||||
endif(CLANG_VERSION VERSION_LESS "900")
|
||||
endif(CLANG_VERSION VERSION_LESS "600")
|
||||
else(CMAKE_SYSTEM_NAME MATCHES "Darwin")
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
|
||||
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
|
||||
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
|
||||
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
|
||||
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
|
||||
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
|
||||
endif(CMAKE_SYSTEM_NAME MATCHES "Darwin")
|
||||
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
|
||||
if(NOT (CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
|
||||
if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
set(CMAKE_CXX_STANDARD 11)
|
||||
endif(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
|
||||
endif(NOT (CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
|
||||
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS} -Wall")
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
|
||||
add_definitions(-D_GLIBCXX_USE_CXX11_ABI=1)
|
||||
|
||||
if(CMAKE_VERSION VERSION_GREATER "3.0")
|
||||
cmake_policy(SET CMP0042 NEW)
|
||||
|
||||
@@ -26,6 +26,7 @@ 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}
|
||||
|
||||
@@ -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 ${OBS_GR_BLOCKS_HEADERS})
|
||||
if(MATIO_FOUND)
|
||||
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
|
||||
add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
|
||||
else(MATIO_FOUND)
|
||||
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
|
||||
add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
|
||||
endif(MATIO_FOUND)
|
||||
target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
|
||||
target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
|
||||
|
||||
@@ -66,11 +66,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
|
||||
max_delta = 0.15; // 150 ms
|
||||
valid_channels.resize(d_nchannels, false);
|
||||
d_num_valid_channels = 0;
|
||||
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
|
||||
}
|
||||
d_gnss_synchro_history = Gnss_circular_deque<Gnss_Synchro>(200, d_nchannels);
|
||||
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump)
|
||||
@@ -302,15 +298,37 @@ int hybrid_observables_cc::save_matfile()
|
||||
}
|
||||
|
||||
|
||||
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
|
||||
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti)
|
||||
{
|
||||
if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
|
||||
if ((ti < d_gnss_synchro_history.front(ch).RX_time) or (ti > d_gnss_synchro_history.back(ch).RX_time))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
std::deque<Gnss_Synchro>::iterator it;
|
||||
std::pair<unsigned int, unsigned int> ind = find_interp_elements(ch, ti);
|
||||
|
||||
arma::vec t = arma::vec(data.size());
|
||||
double m = 0.0;
|
||||
double c = 0.0;
|
||||
|
||||
// CARRIER PHASE INTERPOLATION
|
||||
|
||||
m = (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).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
|
||||
c = d_gnss_synchro_history.at(ch, ind.first).Carrier_phase_rads - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
|
||||
out.Carrier_phase_rads = m * ti + c;
|
||||
|
||||
// CARRIER DOPPLER INTERPOLATION
|
||||
m = (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).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
|
||||
c = d_gnss_synchro_history.at(ch, ind.first).Carrier_Doppler_hz - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
|
||||
out.Carrier_Doppler_hz = m * ti + c;
|
||||
|
||||
// TOW INTERPOLATION
|
||||
m = (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).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
|
||||
c = d_gnss_synchro_history.at(ch, ind.first).TOW_at_current_symbol_s - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
|
||||
out.TOW_at_current_symbol_s = m * ti + c;
|
||||
|
||||
return true;
|
||||
|
||||
/*
|
||||
arma::vec t = arma::vec(d_gnss_synchro_history.size(ch));
|
||||
arma::vec dop = t;
|
||||
arma::vec cph = t;
|
||||
arma::vec tow = t;
|
||||
@@ -336,6 +354,7 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_
|
||||
out.TOW_at_current_symbol_s = result(0);
|
||||
|
||||
return result.is_finite();
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
@@ -351,6 +370,48 @@ 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 = std::fabs(ti - d_gnss_synchro_history.at(ch, i).RX_time);
|
||||
if (dt < dif)
|
||||
{
|
||||
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
|
||||
{
|
||||
if (d_gnss_synchro_history.at(ch, closest).RX_time < ti)
|
||||
{
|
||||
index1 = closest;
|
||||
index2 = closest + 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
index1 = closest - 1;
|
||||
index2 = closest;
|
||||
}
|
||||
}
|
||||
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)
|
||||
@@ -363,13 +424,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
|
||||
}
|
||||
|
||||
|
||||
void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
|
||||
void hybrid_observables_cc::clean_history(Gnss_circular_deque<Gnss_Synchro> &data, unsigned int pos)
|
||||
{
|
||||
while (data.size() > 0)
|
||||
while (data.size(pos) > 0)
|
||||
{
|
||||
if ((T_rx_s - data.front().RX_time) > max_delta)
|
||||
if ((T_rx_s - data.front(pos).RX_time) > max_delta)
|
||||
{
|
||||
data.pop_front();
|
||||
data.pop_front(pos);
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -454,11 +515,9 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
}
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
|
||||
std::vector<std::deque<Gnss_Synchro>>::iterator it;
|
||||
if (total_input_items > 0)
|
||||
{
|
||||
i = 0;
|
||||
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if (ninput_items[i] > 0)
|
||||
{
|
||||
@@ -467,26 +526,25 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
{
|
||||
if (in[i][aux].Flag_valid_word)
|
||||
{
|
||||
it->push_back(in[i][aux]);
|
||||
it->back().RX_time = compute_T_rx_s(in[i][aux]);
|
||||
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]);
|
||||
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
|
||||
if (it->size() > 1)
|
||||
if (d_gnss_synchro_history.size(i) > 1)
|
||||
{
|
||||
if (it->front().PRN != it->back().PRN)
|
||||
if (d_gnss_synchro_history.front(i).PRN != d_gnss_synchro_history.back(i).PRN)
|
||||
{
|
||||
it->clear();
|
||||
d_gnss_synchro_history.clear(i);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
consume(i, ninput_items[i]);
|
||||
}
|
||||
i++;
|
||||
}
|
||||
}
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if (d_gnss_synchro_history.at(i).size() > 2)
|
||||
if (d_gnss_synchro_history.size(i) > 2)
|
||||
{
|
||||
valid_channels[i] = true;
|
||||
}
|
||||
@@ -506,8 +564,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
{
|
||||
if (valid_channels[i])
|
||||
{
|
||||
clean_history(d_gnss_synchro_history.at(i));
|
||||
if (d_gnss_synchro_history.at(i).size() < 2)
|
||||
clean_history(d_gnss_synchro_history, i);
|
||||
if (d_gnss_synchro_history.size(i) < 2)
|
||||
{
|
||||
valid_channels[i] = false;
|
||||
}
|
||||
@@ -523,13 +581,12 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
}
|
||||
|
||||
std::vector<Gnss_Synchro> epoch_data;
|
||||
i = 0;
|
||||
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if (valid_channels[i])
|
||||
{
|
||||
Gnss_Synchro interpolated_gnss_synchro = it->back();
|
||||
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
|
||||
Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history.back(i);
|
||||
if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
|
||||
{
|
||||
epoch_data.push_back(interpolated_gnss_synchro);
|
||||
}
|
||||
@@ -538,7 +595,6 @@ 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)
|
||||
@@ -546,14 +602,14 @@ 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 it2 = epoch_data.begin();
|
||||
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if (valid_channels[i])
|
||||
{
|
||||
out[i][0] = (*it2);
|
||||
out[i][0] = (*it);
|
||||
out[i][0].Flag_valid_pseudorange = true;
|
||||
it2++;
|
||||
it++;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
@@ -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 <vector>
|
||||
#include <deque>
|
||||
#include <utility>
|
||||
|
||||
|
||||
class hybrid_observables_cc;
|
||||
@@ -65,14 +65,15 @@ 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(std::deque<Gnss_Synchro>& data);
|
||||
void clean_history(Gnss_circular_deque<Gnss_Synchro>& data, unsigned int pos);
|
||||
double compute_T_rx_s(const Gnss_Synchro& a);
|
||||
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
|
||||
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, 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
|
||||
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
|
||||
Gnss_circular_deque<Gnss_Synchro> d_gnss_synchro_history;
|
||||
boost::dynamic_bitset<> valid_channels;
|
||||
double T_rx_s;
|
||||
double T_rx_step_s;
|
||||
|
||||
@@ -133,8 +133,8 @@ void signal_generator_c::init()
|
||||
}
|
||||
}
|
||||
}
|
||||
random_ = new gr::random();
|
||||
std::default_random_engine e1(r());
|
||||
std::default_random_engine e2(r());
|
||||
std::uniform_int_distribution<int> uniform_dist(0, RAND_MAX);
|
||||
}
|
||||
|
||||
@@ -271,7 +271,6 @@ signal_generator_c::~signal_generator_c()
|
||||
}
|
||||
} */
|
||||
volk_gnsssdr_free(complex_phase_);
|
||||
delete random_;
|
||||
}
|
||||
|
||||
|
||||
@@ -433,7 +432,7 @@ int signal_generator_c::general_work(int noutput_items __attribute__((unused)),
|
||||
{
|
||||
for (out_idx = 0; out_idx < vector_length_; out_idx++)
|
||||
{
|
||||
out[out_idx] += gr_complex(random_->gasdev(), random_->gasdev());
|
||||
out[out_idx] += gr_complex(normal_dist(e1), normal_dist(e2));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@
|
||||
|
||||
#include "gnss_signal.h"
|
||||
#include <boost/scoped_array.hpp>
|
||||
#include <gnuradio/random.h>
|
||||
//#include <gnuradio/random.h>
|
||||
#include <gnuradio/block.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
@@ -120,13 +120,15 @@ private:
|
||||
|
||||
boost::scoped_array<gr_complex *> sampled_code_data_;
|
||||
boost::scoped_array<gr_complex *> sampled_code_pilot_;
|
||||
gr::random *random_;
|
||||
//gr::random *random_;
|
||||
gr_complex *complex_phase_;
|
||||
|
||||
unsigned int work_counter_;
|
||||
std::random_device r;
|
||||
std::default_random_engine e1;
|
||||
std::default_random_engine e2;
|
||||
std::uniform_int_distribution<int> uniform_dist;
|
||||
std::normal_distribution<float> normal_dist;
|
||||
|
||||
public:
|
||||
~signal_generator_c(); // public destructor
|
||||
|
||||
Reference in New Issue
Block a user