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Code Issues Releases Wiki Activity

Improve variable naming, some code cleaning

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This commit is contained in:
Carles Fernandez 2016-11-03 16:58:54 +01:00
parent 035cc8c52a
commit 6ed6234170
4 changed files with 31 additions and 45 deletions
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29
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
View File

@ -174,7 +174,7 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
d_last_sample_nav_output = 0; d_last_sample_nav_output = 0;
d_rx_time = 0.0; d_rx_time = 0.0;
b_rinex_header_writen = false; b_rinex_header_written = false;
b_rinex_header_updated = false; b_rinex_header_updated = false;
rp = std::make_shared<Rinex_Printer>(); rp = std::make_shared<Rinex_Printer>();
@ -218,13 +218,6 @@ galileo_e1_pvt_cc::~galileo_e1_pvt_cc()
} }
bool galileo_e1_pvt_cc::pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
}
void galileo_e1_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data) void galileo_e1_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
{ {
// Print the current receiver status using std::cout every second // Print the current receiver status using std::cout every second
@ -259,7 +252,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
{ {
d_sample_counter++; d_sample_counter++;
std::map<int,Gnss_Synchro> gnss_pseudoranges_map; std::map<int,Gnss_Synchro> gnss_observables_map;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
@ -270,7 +263,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
{ {
if (in[i][0].Flag_valid_pseudorange == true) if (in[i][0].Flag_valid_pseudorange == true)
{ {
gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges) d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
if(d_ls_pvt->galileo_ephemeris_map.size() > 0) if(d_ls_pvt->galileo_ephemeris_map.size() > 0)
{ {
@ -284,13 +277,13 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
} }
// ############ 2 COMPUTE THE PVT ################################ // ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0) if (gnss_observables_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0)
{ {
// compute on the fly PVT solution // compute on the fly PVT solution
if ((d_sample_counter % d_output_rate_ms) == 0) if ((d_sample_counter % d_output_rate_ms) == 0)
{ {
bool pvt_result; bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging); pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true) if (pvt_result == true)
{ {
@ -309,7 +302,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging); d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging); d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_writen) if (!b_rinex_header_written)
{ {
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
@ -317,10 +310,10 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
{ {
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_writen = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
} }
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s) if(b_rinex_header_written) // Put here another condition to separate annotations (e.g 30 s)
{ {
// Limit the RINEX navigation output rate to 1/6 seg // Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 4ms (for Galileo correlators) // Notice that d_sample_counter period is 4ms (for Galileo correlators)
@ -333,7 +326,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{ {
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map); rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0)) if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{ {
@ -358,7 +351,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
} }
} }
@ -373,7 +366,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }

3
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
View File

@ -108,7 +108,7 @@ private:
void msg_handler_telemetry(pmt::pmt_t msg); void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump; bool d_dump;
bool b_rinex_header_writen; bool b_rinex_header_written;
bool b_rinex_header_updated; bool b_rinex_header_updated;
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
@ -135,7 +135,6 @@ private:
double d_rx_time; double d_rx_time;
std::shared_ptr<galileo_e1_ls_pvt> d_ls_pvt; std::shared_ptr<galileo_e1_ls_pvt> d_ls_pvt;
bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b);
bool first_fix; bool first_fix;
key_t sysv_msg_key; key_t sysv_msg_key;

38
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@ -131,21 +131,21 @@ void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
Sbas_Raw_Msg sbas_raw_msg = *sbas_raw_msg_ptr; Sbas_Raw_Msg sbas_raw_msg = *sbas_raw_msg_ptr;
// read SBAS raw messages directly from queue and write them into rinex file // read SBAS raw messages directly from queue and write them into rinex file
// create the header of not yet done // create the header of not yet done
if(!b_rinex_sbs_header_writen) if(!b_rinex_sbs_header_written)
{ {
rp->rinex_sbs_header(rp->sbsFile); rp->rinex_sbs_header(rp->sbsFile);
b_rinex_sbs_header_writen = true; b_rinex_sbs_header_written = true;
} }
// Define the RX time of the SBAS message by using the GPS time. // Define the RX time of the SBAS message by using the GPS time.
// It has only an effect if there has not been yet a SBAS MT12 available // It has only an effect if there has not been yet a SBAS MT12 available
// when the message was received. // when the message was received.
if(sbas_raw_msg.get_rx_time_obj().is_related() == false if(sbas_raw_msg.get_rx_time_obj().is_related() == false
&& gnss_pseudoranges_map.size() > 0 && gnss_observables_map.size() > 0
&& d_ls_pvt->gps_ephemeris_map.size() > 0) && d_ls_pvt->gps_ephemeris_map.size() > 0)
{ {
// doesn't matter which channel/satellite we choose // doesn't matter which channel/satellite we choose
Gnss_Synchro gs = gnss_pseudoranges_map.begin()->second; Gnss_Synchro gs = gnss_observables_map.begin()->second;
Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second; Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
double relative_rx_time = gs.Tracking_timestamp_secs; double relative_rx_time = gs.Tracking_timestamp_secs;
@ -277,9 +277,9 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
d_last_status_print_seg = 0; d_last_status_print_seg = 0;
b_rinex_header_writen = false; b_rinex_header_written = false;
b_rinex_header_updated = false; b_rinex_header_updated = false;
b_rinex_sbs_header_writen = false; b_rinex_sbs_header_written = false;
rp = std::make_shared<Rinex_Printer>(); rp = std::make_shared<Rinex_Printer>();
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
@ -318,12 +318,6 @@ gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
} }
bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
}
void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data) void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
{ {
// Print the current receiver status using std::cout every second // Print the current receiver status using std::cout every second
@ -341,7 +335,7 @@ void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchroniza
int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused))) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{ {
gnss_pseudoranges_map.clear(); gnss_observables_map.clear();
d_sample_counter++; d_sample_counter++;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
@ -352,7 +346,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
{ {
if (in[i][0].Flag_valid_pseudorange == true) if (in[i][0].Flag_valid_pseudorange == true)
{ {
gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges) d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
if(d_ls_pvt->gps_ephemeris_map.size() > 0) if(d_ls_pvt->gps_ephemeris_map.size() > 0)
{ {
@ -366,14 +360,14 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
} }
// ############ 2 COMPUTE THE PVT ################################ // ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0) if (gnss_observables_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
{ {
// compute on the fly PVT solution // compute on the fly PVT solution
//mod 8/4/2012 Set the PVT computation rate in this block //mod 8/4/2012 Set the PVT computation rate in this block
if ((d_sample_counter % d_output_rate_ms) == 0) if ((d_sample_counter % d_output_rate_ms) == 0)
{ {
bool pvt_result; bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging); pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true) if (pvt_result == true)
{ {
if( first_fix == true) if( first_fix == true)
@ -391,7 +385,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging); d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging); d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_writen) if (!b_rinex_header_written)
{ {
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter; std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
@ -399,10 +393,10 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
{ {
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model); rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_writen = true; // do not write header anymore b_rinex_header_written = true; // do not write header anymore
} }
} }
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s) if(b_rinex_header_written) // Put here another condition to separate annotations (e.g 30 s)
{ {
// Limit the RINEX navigation output rate to 1/6 seg // Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators) // Notice that d_sample_counter period is 1ms (for GPS correlators)
@ -415,7 +409,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{ {
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map); rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
} }
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0)) if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{ {
@ -439,7 +433,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
} }
} }
@ -455,7 +449,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
b_rtcm_writing_started = true; b_rtcm_writing_started = true;
} }

6
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@ -108,8 +108,8 @@ private:
void msg_handler_telemetry(pmt::pmt_t msg); void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump; bool d_dump;
bool b_rinex_header_writen; bool b_rinex_header_written;
bool b_rinex_sbs_header_writen; bool b_rinex_sbs_header_written;
bool b_rinex_header_updated; bool b_rinex_header_updated;
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
unsigned short d_rtcm_tcp_port; unsigned short d_rtcm_tcp_port;
@ -138,7 +138,7 @@ private:
double d_rx_time; double d_rx_time;
std::shared_ptr<gps_l1_ca_ls_pvt> d_ls_pvt; std::shared_ptr<gps_l1_ca_ls_pvt> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_pseudoranges_map; std::map<int,Gnss_Synchro> gnss_observables_map;
bool first_fix; bool first_fix;
key_t sysv_msg_key; key_t sysv_msg_key;