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Include the Guidelines Support Library. General improvement of memory management

Browse Source 
Replacement of raw pointers by containers or smart pointers.

Reduce the number of naked news and deletes.

Reduce pointer arithmetics,

Applied some clang-tidy fixes.

See https://github.com/isocpp/CppCoreGuidelines/blob/master/CppCoreGuidelines.md#Rr-newdelete

See https://github.com/isocpp/CppCoreGuidelines/blob/master/CppCoreGuidelines.md#Pro-bounds-arithmetic
This commit is contained in:
Carles Fernandez 2019-06-30 19:21:23 +02:00
commit 72f8b9e212
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GPG Key ID: 4C583C52B0C3877D
169 changed files with 4779 additions and 2056 deletions
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1
docs/changelog
View File

@ -56,6 +56,7 @@
### Improvements in Reliability
- Included the Guidelines Support Library. General improvement of memory management, replacement of raw pointers by containers or smart pointers.
- Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp.

2
src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
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@ -35,7 +35,7 @@
#include <sstream>
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
{
for (const auto& address : addresses)
{

2
src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
View File

@ -45,7 +45,7 @@ using b_io_context = boost::asio::io_service;
class Monitor_Pvt_Udp_Sink
{
public:
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port, bool protobuf_enabled);
Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t &port, bool protobuf_enabled);
bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
private:

2
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -283,7 +283,7 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Rtklib_Solver>& pvt_dat
}
char Nmea_Printer::checkSum(std::string sentence)
char Nmea_Printer::checkSum(const std::string& sentence)
{
char check = 0;
// iterate over the string, XOR each byte with the total sum:

2
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -83,7 +83,7 @@ private:
std::string get_UTC_NMEA_time(boost::posix_time::ptime d_position_UTC_time);
std::string longitude_to_hm(double longitude);
std::string latitude_to_hm(double lat);
char checkSum(std::string sentence);
char checkSum(const std::string& sentence);
bool print_avg_pos;
bool d_flag_nmea_output_file;
};

26
src/algorithms/PVT/libs/rtcm.cc
View File

@ -140,7 +140,7 @@ bool Rtcm::is_server_running() const
std::string Rtcm::add_CRC(const std::string& message_without_crc) const
{
// ****** Computes Qualcomm CRC-24Q ******
boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM;
boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false> CRC_RTCM;
// 1) Converts the string to a vector of uint8_t:
boost::dynamic_bitset<uint8_t> frame_bits(message_without_crc);
std::vector<uint8_t> bytes;
@ -159,7 +159,7 @@ std::string Rtcm::add_CRC(const std::string& message_without_crc) const
bool Rtcm::check_CRC(const std::string& message) const
{
boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
// Convert message to binary
std::string message_bin = Rtcm::binary_data_to_bin(message);
// Check CRC
@ -2419,7 +2419,7 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchr
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
observables_vector.push_back(*gnss_synchro_iter);
observables_vector.emplace_back(*gnss_synchro_iter);
}
}
@ -2448,7 +2448,7 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Syn
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2556,7 +2556,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2670,7 +2670,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2786,7 +2786,7 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchr
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
observables_vector.push_back(*gnss_synchro_iter);
observables_vector.emplace_back(*gnss_synchro_iter);
}
}
@ -2827,7 +2827,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2947,7 +2947,7 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
observables_vector.push_back(*gnss_synchro_iter);
observables_vector.emplace_back(*gnss_synchro_iter);
}
}
@ -2993,7 +2993,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -3114,7 +3114,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -3234,7 +3234,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -5330,7 +5330,7 @@ int32_t Rtcm::set_DF398(const Gnss_Synchro& gnss_synchro)
}
else
{
rr_mod_ms = static_cast<uint32_t>(std::floor(rough_range_m / meters_to_miliseconds / TWO_N10) + 0.5) & 0x3FFu;
rr_mod_ms = static_cast<uint32_t>(std::floor(rough_range_m / meters_to_miliseconds / TWO_N10) + 0.5) & 0x3FFU;
}
DF398 = std::bitset<10>(rr_mod_ms);
return 0;

171
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -64,6 +64,7 @@
#include <matio.h>
#include <exception>
#include <utility>
#include <vector>
Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
@ -172,34 +173,34 @@ bool Rtklib_Solver::save_matfile()
return false;
}
auto *TOW_at_current_symbol_ms = new uint32_t[num_epoch];
auto *week = new uint32_t[num_epoch];
auto *RX_time = new double[num_epoch];
auto *user_clk_offset = new double[num_epoch];
auto *pos_x = new double[num_epoch];
auto *pos_y = new double[num_epoch];
auto *pos_z = new double[num_epoch];
auto *vel_x = new double[num_epoch];
auto *vel_y = new double[num_epoch];
auto *vel_z = new double[num_epoch];
auto *cov_xx = new double[num_epoch];
auto *cov_yy = new double[num_epoch];
auto *cov_zz = new double[num_epoch];
auto *cov_xy = new double[num_epoch];
auto *cov_yz = new double[num_epoch];
auto *cov_zx = new double[num_epoch];
auto *latitude = new double[num_epoch];
auto *longitude = new double[num_epoch];
auto *height = new double[num_epoch];
auto *valid_sats = new uint8_t[num_epoch];
auto *solution_status = new uint8_t[num_epoch];
auto *solution_type = new uint8_t[num_epoch];
auto *AR_ratio_factor = new float[num_epoch];
auto *AR_ratio_threshold = new float[num_epoch];
auto *gdop = new double[num_epoch];
auto *pdop = new double[num_epoch];
auto *hdop = new double[num_epoch];
auto *vdop = new double[num_epoch];
auto TOW_at_current_symbol_ms = std::vector<uint32_t>(num_epoch);
auto week = std::vector<uint32_t>(num_epoch);
auto RX_time = std::vector<double>(num_epoch);
auto user_clk_offset = std::vector<double>(num_epoch);
auto pos_x = std::vector<double>(num_epoch);
auto pos_y = std::vector<double>(num_epoch);
auto pos_z = std::vector<double>(num_epoch);
auto vel_x = std::vector<double>(num_epoch);
auto vel_y = std::vector<double>(num_epoch);
auto vel_z = std::vector<double>(num_epoch);
auto cov_xx = std::vector<double>(num_epoch);
auto cov_yy = std::vector<double>(num_epoch);
auto cov_zz = std::vector<double>(num_epoch);
auto cov_xy = std::vector<double>(num_epoch);
auto cov_yz = std::vector<double>(num_epoch);
auto cov_zx = std::vector<double>(num_epoch);
auto latitude = std::vector<double>(num_epoch);
auto longitude = std::vector<double>(num_epoch);
auto height = std::vector<double>(num_epoch);
auto valid_sats = std::vector<uint8_t>(num_epoch);
auto solution_status = std::vector<uint8_t>(num_epoch);
auto solution_type = std::vector<uint8_t>(num_epoch);
auto AR_ratio_factor = std::vector<float>(num_epoch);
auto AR_ratio_threshold = std::vector<float>(num_epoch);
auto gdop = std::vector<double>(num_epoch);
auto pdop = std::vector<double>(num_epoch);
auto hdop = std::vector<double>(num_epoch);
auto vdop = std::vector<double>(num_epoch);
try
{
@ -242,35 +243,6 @@ bool Rtklib_Solver::save_matfile()
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] TOW_at_current_symbol_ms;
delete[] week;
delete[] RX_time;
delete[] user_clk_offset;
delete[] pos_x;
delete[] pos_y;
delete[] pos_z;
delete[] vel_x;
delete[] vel_y;
delete[] vel_z;
delete[] cov_xx;
delete[] cov_yy;
delete[] cov_zz;
delete[] cov_xy;
delete[] cov_yz;
delete[] cov_zx;
delete[] latitude;
delete[] longitude;
delete[] height;
delete[] valid_sats;
delete[] solution_status;
delete[] solution_type;
delete[] AR_ratio_factor;
delete[] AR_ratio_threshold;
delete[] gdop;
delete[] pdop;
delete[] hdop;
delete[] vdop;
return false;
}
@ -284,149 +256,120 @@ bool Rtklib_Solver::save_matfile()
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims, TOW_at_current_symbol_ms, 0);
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims, TOW_at_current_symbol_ms.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims, week, 0);
matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims, week.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, RX_time, 0);
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, RX_time.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, user_clk_offset, 0);
matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, user_clk_offset.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_x, 0);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_y, 0);
matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_y.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_z, 0);
matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_z.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_x, 0);
matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_y, 0);
matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_y.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_z, 0);
matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_z.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xx, 0);
matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xx.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yy, 0);
matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yy.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zz, 0);
matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xy, 0);
matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xy.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yz, 0);
matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zx, 0);
matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zx.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, latitude, 0);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, latitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, longitude, 0);
matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, longitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, height, 0);
matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, height.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims, valid_sats, 0);
matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims, valid_sats.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_status, 0);
matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_status.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_type, 0);
matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_type.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_factor, 0);
matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_factor.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_threshold, 0);
matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_threshold.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, gdop, 0);
matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, gdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pdop, 0);
matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, hdop, 0);
matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, hdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vdop, 0);
matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] TOW_at_current_symbol_ms;
delete[] week;
delete[] RX_time;
delete[] user_clk_offset;
delete[] pos_x;
delete[] pos_y;
delete[] pos_z;
delete[] vel_x;
delete[] vel_y;
delete[] vel_z;
delete[] cov_xx;
delete[] cov_yy;
delete[] cov_zz;
delete[] cov_xy;
delete[] cov_yz;
delete[] cov_zx;
delete[] latitude;
delete[] longitude;
delete[] height;
delete[] valid_sats;
delete[] solution_status;
delete[] solution_type;
delete[] AR_ratio_factor;
delete[] AR_ratio_threshold;
delete[] gdop;
delete[] pdop;
delete[] hdop;
delete[] vdop;
return true;
}

23
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -39,6 +39,8 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
#include <memory>
BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
@ -90,7 +92,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -135,10 +137,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
}
BeidouB1iPcpsAcquisition::~BeidouB1iPcpsAcquisition()
{
delete[] code_;
}
BeidouB1iPcpsAcquisition::~BeidouB1iPcpsAcquisition() = default;
void BeidouB1iPcpsAcquisition::stop_acquisition()
@ -204,18 +203,17 @@ void BeidouB1iPcpsAcquisition::init()
void BeidouB1iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
for (uint32_t i = 0; i < sampled_ms_; i++)
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}
@ -331,6 +329,7 @@ gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_right_block()
return acquisition_;
}
void BeidouB1iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

7
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -42,7 +42,9 @@
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -108,7 +110,6 @@ public:
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -159,7 +160,6 @@ public:
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -183,12 +183,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
uint32_t in_streams_;
uint32_t out_streams_;
float calculate_threshold(float pfa);
};

26
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
View File

@ -37,7 +37,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
using google::LogMessage;
@ -66,7 +66,10 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
@ -88,7 +91,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -133,16 +136,14 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
}
BeidouB3iPcpsAcquisition::~BeidouB3iPcpsAcquisition()
{
delete[] code_;
}
BeidouB3iPcpsAcquisition::~BeidouB3iPcpsAcquisition() = default;
void BeidouB3iPcpsAcquisition::stop_acquisition()
{
}
void BeidouB3iPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -201,18 +202,17 @@ void BeidouB3iPcpsAcquisition::init()
void BeidouB3iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
beidou_b3i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

7
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
View File

@ -41,7 +41,9 @@
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -107,7 +109,6 @@ public:
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -158,7 +159,6 @@ public:
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -182,12 +182,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

23
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
@ -86,7 +87,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
int samples_per_ms = code_length_ / 4;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -122,10 +123,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
}
GalileoE1Pcps8msAmbiguousAcquisition::~GalileoE1Pcps8msAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1Pcps8msAmbiguousAcquisition::~GalileoE1Pcps8msAmbiguousAcquisition() = default;
void GalileoE1Pcps8msAmbiguousAcquisition::stop_acquisition()
@ -216,20 +214,20 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}
@ -242,6 +240,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::reset()
}
}
float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
{
unsigned int frequency_bins = 0;

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "galileo_pcps_8ms_acquisition_cc.h"
#include "gnss_synchro.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -165,7 +167,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

31
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -37,6 +37,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
@ -126,7 +127,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -166,16 +167,14 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
}
GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition() = default;
void GalileoE1PcpsAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -242,45 +241,47 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gsl::span<std::complex<float>> code_span(code.get(), code_length_);
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
galileo_e1_code_gen_complex_sampled(code_span, pilot_signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
galileo_e1_code_gen_complex_sampled(code_span, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
else
{
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(code_span, Signal_,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(code_span, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
gsl::span<gr_complex> code__span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{
memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code__span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

7
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -39,7 +39,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -105,6 +107,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -153,10 +156,8 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
Acq_Conf acq_parameters_;
@ -181,7 +182,7 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

32
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -40,9 +40,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -108,10 +108,11 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// compute all the GALILEO E1 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
std::vector<std::complex<float>> code(nsamples_total); // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new uint32_t[(nsamples_total * GALILEO_E1_NUMBER_OF_CODES)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E1_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp, tmp2, local_code, fft_data;
@ -122,14 +123,14 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
char data_signal[3] = "1B";
galileo_e1_code_gen_complex_sampled(code, data_signal,
std::array<char, 3> data_signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), data_signal,
cboc, PRN, fs_in, 0, false);
}
@ -144,7 +145,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -173,7 +174,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
@ -188,17 +189,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()

5
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -37,7 +37,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -165,8 +167,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ */

24
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -86,8 +86,8 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
int samples_per_ms = code_length_ / 4;
code_data_ = new gr_complex[vector_length_];
code_pilot_ = new gr_complex[vector_length_];
code_data_ = std::vector<std::complex<float>>(vector_length_);
code_pilot_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -123,11 +123,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
}
GalileoE1PcpsCccwsrAmbiguousAcquisition::~GalileoE1PcpsCccwsrAmbiguousAcquisition()
{
delete[] code_data_;
delete[] code_pilot_;
}
GalileoE1PcpsCccwsrAmbiguousAcquisition::~GalileoE1PcpsCccwsrAmbiguousAcquisition() = default;
void GalileoE1PcpsCccwsrAmbiguousAcquisition::stop_acquisition()
@ -168,6 +164,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_doppler_step(unsigned int dopp
}
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
@ -203,19 +200,17 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
char signal[3];
std::array<char, 3> signal = {{'1', 'B', '\0'}};
strcpy(signal, "1B");
galileo_e1_code_gen_complex_sampled(code_data_, signal,
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_data_.data(), vector_length_), signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
strcpy(signal, "1C");
std::array<char, 3> signal_C = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(code_pilot_, signal,
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_pilot_.data(), vector_length_), signal_C,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
acquisition_cc_->set_local_code(code_data_, code_pilot_);
acquisition_cc_->set_local_code(code_data_.data(), code_pilot_.data());
}
}
@ -228,6 +223,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::reset()
}
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_state(int state)
{
acquisition_cc_->set_state(state);

8
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_cccwsr_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -101,6 +103,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of CCCWSR algorithm
*/
@ -153,7 +156,6 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
//unsigned int satellite_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
@ -164,8 +166,8 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_data_;
std::complex<float>* code_pilot_;
std::vector<std::complex<float>> code_data_;
std::vector<std::complex<float>> code_pilot_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

26
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
@ -114,7 +115,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename);
code_ = new gr_complex[code_length_];
code_ = std::vector<std::complex<float>>(code_length_);
LOG(INFO) << "Vector Length: " << vector_length_
<< ", Samples per ms: " << samples_per_ms
<< ", Folding factor: " << folding_factor_
@ -156,10 +157,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
}
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition() = default;
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::stop_acquisition()
@ -250,23 +248,20 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
// memcpy(code_, code,sizeof(gr_complex)*code_length_);
acquisition_cc_->set_local_code(code_);
delete[] code;
code = nullptr;
acquisition_cc_->set_local_code(code_.data());
}
}
@ -279,6 +274,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
{
if (item_type_ == "gr_complex")

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_quicksync_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -169,7 +171,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

24
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
@ -89,7 +90,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
int samples_per_ms = code_length_ / 4;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -126,10 +127,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
}
GalileoE1PcpsTongAmbiguousAcquisition::~GalileoE1PcpsTongAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1PcpsTongAmbiguousAcquisition::~GalileoE1PcpsTongAmbiguousAcquisition() = default;
void GalileoE1PcpsTongAmbiguousAcquisition::stop_acquisition()
@ -220,20 +218,19 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}
@ -246,6 +243,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::reset()
}
}
void GalileoE1PcpsTongAmbiguousAcquisition::set_state(int state)
{
acquisition_cc_->set_state(state);

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_tong_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -168,7 +170,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

45
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -42,6 +42,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
@ -93,8 +94,8 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
vector_length_ = code_length_ * sampled_ms_;
codeI_ = new gr_complex[vector_length_];
codeQ_ = new gr_complex[vector_length_];
codeI_ = std::vector<std::complex<float>>(vector_length_);
codeQ_ = std::vector<std::complex<float>>(vector_length_);
both_signal_components = false;
std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
@ -131,11 +132,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
}
GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf()
{
delete[] codeI_;
delete[] codeQ_;
}
GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf() = default;
void GalileoE5aNoncoherentIQAcquisitionCaf::stop_acquisition()
@ -223,55 +220,51 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* codeI = new std::complex<float>[code_length_];
auto* codeQ = new std::complex<float>[code_length_];
std::vector<std::complex<float>> codeI(code_length_);
std::vector<std::complex<float>> codeQ(code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
char a[3];
strcpy(a, "5I");
galileo_e5_a_code_gen_complex_sampled(codeI, a,
std::array<char, 3> a = {{'5', 'I', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeI.data(), code_length_), a,
gnss_synchro_->PRN, fs_in_, 0);
strcpy(a, "5Q");
galileo_e5_a_code_gen_complex_sampled(codeQ, a,
std::array<char, 3> b = {{'5', 'Q', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeQ.data(), code_length_), b,
gnss_synchro_->PRN, fs_in_, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(codeI, gnss_synchro_->Signal,
std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeI.data(), code_length_), signal_type_,
gnss_synchro_->PRN, fs_in_, 0);
}
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
// is generated, and modulated in the 'block'.
gsl::span<gr_complex> codeQ_span(codeQ_.data(), vector_length_);
gsl::span<gr_complex> codeI_span(codeI_.data(), vector_length_);
if (Zero_padding == 0) // if no zero_padding
{
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(codeI_[i * code_length_]), codeI,
sizeof(gr_complex) * code_length_);
std::copy_n(codeI.data(), code_length_, codeI_span.subspan(i * code_length_, code_length_).data());
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
memcpy(&(codeQ_[i * code_length_]), codeQ,
sizeof(gr_complex) * code_length_);
std::copy_n(codeQ.data(), code_length_, codeQ_span.subspan(i * code_length_, code_length_).data());
}
}
}
else
{
// 1ms code + 1ms zero padding
memcpy(&(codeI_[0]), codeI,
sizeof(gr_complex) * code_length_);
std::copy_n(codeI.data(), code_length_, codeI_.data());
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
memcpy(&(codeQ_[0]), codeQ,
sizeof(gr_complex) * code_length_);
std::copy_n(codeQ.data(), code_length_, codeQ_.data());
}
}
acquisition_cc_->set_local_code(codeI_, codeQ_);
delete[] codeI;
delete[] codeQ;
acquisition_cc_->set_local_code(codeI_.data(), codeQ_.data());
}
}

7
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -41,7 +41,9 @@
#include "channel_fsm.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
#include "gnss_synchro.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -102,6 +104,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -171,8 +174,8 @@ private:
std::string dump_filename_;
int Zero_padding;
int CAF_window_hz_;
std::complex<float>* codeI_;
std::complex<float>* codeQ_;
std::vector<std::complex<float>> codeI_;
std::vector<std::complex<float>> codeQ_;
bool both_signal_components;
Gnss_Synchro* gnss_synchro_;
std::string role_;

31
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -37,6 +37,7 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
#include <algorithm>
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
@ -123,7 +124,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -164,10 +165,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
}
GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition()
{
delete[] code_;
}
GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition() = default;
void GalileoE5aPcpsAcquisition::stop_acquisition()
@ -235,38 +233,39 @@ void GalileoE5aPcpsAcquisition::init()
void GalileoE5aPcpsAcquisition::set_local_code()
{
auto* code = new gr_complex[code_length_];
char signal_[3];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> signal_;
signal_[0] = '5';
signal_[2] = '\0';
if (acq_iq_)
{
strcpy(signal_, "5X");
signal_[1] = 'X';
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
signal_[1] = 'Q';
}
else
{
strcpy(signal_, "5I");
signal_[1] = 'I';
}
if (acq_parameters_.use_automatic_resampler)
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
galileo_e5_a_code_gen_complex_sampled(gsl::span<gr_complex>(code.get(), code_length_), signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
galileo_e5_a_code_gen_complex_sampled(gsl::span<gr_complex>(code.get(), code_length_), signal_, gnss_synchro_->PRN, fs_in_, 0);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

21
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -35,7 +35,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -93,6 +95,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -143,29 +146,23 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
size_t item_size_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool bit_transition_flag_;
bool dump_;
bool acq_pilot_;
bool use_CFAR_;
bool blocking_;
bool acq_iq_;
unsigned int vector_length_;
unsigned int code_length_;
unsigned int channel_;
@ -176,18 +173,10 @@ private:
unsigned int max_dwells_;
unsigned int in_streams_;
unsigned int out_streams_;
int64_t fs_in_;
float threshold_;
/*
std::complex<float>* codeI_;
std::complex<float>* codeQ_;
*/
gr_complex* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
};
#endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */

35
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -40,9 +40,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for strcpy, memcpy
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -109,32 +109,34 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// compute all the GALILEO E5 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
std::vector<std::complex<float>> code(nsamples_total); // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new uint32_t[(nsamples_total * GALILEO_E5A_NUMBER_OF_CODES)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E5A_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp, tmp2, local_code, fft_data;
for (uint32_t PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++)
{
char signal_[3];
std::array<char, 3> signal_;
signal_[0] = '5';
signal_[2] = '\0';
if (acq_iq_)
{
strcpy(signal_, "5X");
signal_[1] = 'X';
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
signal_[1] = 'Q';
}
else
{
strcpy(signal_, "5I");
signal_[1] = 'I';
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), signal_, PRN, fs_in, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -147,7 +149,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -175,7 +177,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13);
@ -190,17 +192,12 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga() = default;
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()

9
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -39,7 +39,9 @@
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -167,24 +169,19 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool acq_pilot_;
bool acq_iq_;
uint32_t channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_;
uint32_t doppler_step_;
unsigned int in_streams_;
unsigned int out_streams_;
Gnss_Synchro* gnss_synchro_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_ */

20
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -39,6 +39,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
@ -93,7 +94,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -137,16 +138,14 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
}
GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
{
delete[] code_;
}
GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition() = default;
void GlonassL1CaPcpsAcquisition::stop_acquisition()
{
}
void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -206,18 +205,17 @@ void GlonassL1CaPcpsAcquisition::init()
void GlonassL1CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
glonass_l1_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), /* gnss_synchro_->PRN,*/ fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

7
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -39,7 +39,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -86,6 +88,7 @@ public:
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Set acquisition channel unique ID
*/
@ -103,6 +106,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -172,12 +176,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

19
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -38,6 +38,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
@ -92,7 +93,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -136,10 +137,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
}
GlonassL2CaPcpsAcquisition::~GlonassL2CaPcpsAcquisition()
{
delete[] code_;
}
GlonassL2CaPcpsAcquisition::~GlonassL2CaPcpsAcquisition() = default;
void GlonassL2CaPcpsAcquisition::stop_acquisition()
@ -206,18 +204,17 @@ void GlonassL2CaPcpsAcquisition::init()
void GlonassL2CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
glonass_l2_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), /* gnss_synchro_->PRN,*/ fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

6
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -38,7 +38,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -103,6 +105,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -172,12 +175,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

23
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -41,6 +41,8 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
#include <gsl/gsl>
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
@ -121,7 +123,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -159,16 +161,14 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
}
GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition() = default;
void GpsL1CaPcpsAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -226,24 +226,23 @@ void GpsL1CaPcpsAcquisition::init()
void GpsL1CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
if (acq_parameters_.use_automatic_resampler)
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

8
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -43,7 +43,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -109,6 +111,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -157,10 +160,8 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -184,12 +185,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

11
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -80,7 +80,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
acq_parameters.samples_per_ms = vector_length_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -109,10 +109,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
}
GpsL1CaPcpsAcquisitionFineDoppler::~GpsL1CaPcpsAcquisitionFineDoppler()
{
delete[] code_;
}
GpsL1CaPcpsAcquisitionFineDoppler::~GpsL1CaPcpsAcquisitionFineDoppler() = default;
void GpsL1CaPcpsAcquisitionFineDoppler::stop_acquisition()
@ -163,8 +160,8 @@ void GpsL1CaPcpsAcquisitionFineDoppler::init()
void GpsL1CaPcpsAcquisitionFineDoppler::set_local_code()
{
gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code_.data(), vector_length_), gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.data());
}

5
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -37,7 +37,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fine_doppler_cc.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -102,6 +104,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -161,7 +164,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

25
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -43,9 +43,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
@ -103,17 +103,17 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true));
// allocate memory to compute all the PRNs and compute all the possible codes
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
std::vector<std::complex<float>> code(nsamples_total); // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new uint32_t[(nsamples_total * NUM_PRNs)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max;
int32_t tmp, tmp2, local_code, fft_data;
// temporary maxima search
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in, 0); // generate PRN code
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -126,7 +126,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -155,7 +155,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
}
// acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 10);
@ -170,17 +170,12 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga() = default;
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -41,7 +41,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string> // for string
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -167,7 +169,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ */

11
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -70,7 +70,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_];
code_ = std::make_shared<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -101,10 +101,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
}
GpsL1CaPcpsAssistedAcquisition::~GpsL1CaPcpsAssistedAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsAssistedAcquisition::~GpsL1CaPcpsAssistedAcquisition() = default;
void GpsL1CaPcpsAssistedAcquisition::stop_acquisition()
@ -154,8 +151,8 @@ void GpsL1CaPcpsAssistedAcquisition::init()
void GpsL1CaPcpsAssistedAcquisition::set_local_code()
{
gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<gr_complex>(code_.get(), vector_length_), gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.get());
}
void GpsL1CaPcpsAssistedAcquisition::reset()

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -37,7 +37,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_assisted_acquisition_cc.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -102,6 +104,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -147,7 +150,6 @@ private:
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
//unsigned int satellite_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
@ -159,7 +161,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::shared_ptr<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

26
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
@ -59,7 +60,10 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property("Acquisition.bit_transition_flag", false);
@ -81,7 +85,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -117,16 +121,14 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
}
GpsL1CaPcpsOpenClAcquisition::~GpsL1CaPcpsOpenClAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsOpenClAcquisition::~GpsL1CaPcpsOpenClAcquisition() = default;
void GpsL1CaPcpsOpenClAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -207,19 +209,17 @@ void GpsL1CaPcpsOpenClAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_opencl_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -101,6 +103,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -169,12 +172,11 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

22
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -37,6 +37,7 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
@ -104,7 +105,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
int samples_per_ms = round(code_length_);
code_ = new gr_complex[code_length_]();
code_ = std::vector<std::complex<float>>(code_length_);
/*Object relevant information for debugging*/
LOG(INFO) << "Implementation: " << this->implementation()
<< ", Vector Length: " << vector_length_
@ -149,16 +150,14 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
}
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition() = default;
void GpsL1CaPcpsQuickSyncAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -236,20 +235,17 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* code = new std::complex<float>[code_length_]();
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
//memcpy(code_, code,sizeof(gr_complex)*code_length_);
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -38,7 +38,9 @@
#include "gnss_synchro.h"
#include "pcps_quicksync_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -103,6 +105,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -170,12 +173,11 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

22
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
@ -75,7 +76,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -111,16 +112,14 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
}
GpsL1CaPcpsTongAcquisition::~GpsL1CaPcpsTongAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsTongAcquisition::~GpsL1CaPcpsTongAcquisition() = default;
void GpsL1CaPcpsTongAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -193,23 +192,22 @@ void GpsL1CaPcpsTongAcquisition::init()
//set_local_code();
}
void GpsL1CaPcpsTongAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
View File

@ -37,7 +37,9 @@
#include "gnss_synchro.h"
#include "pcps_tong_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -102,6 +104,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of TONG algorithm
*/
@ -169,12 +172,11 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

24
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -39,6 +39,7 @@
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
@ -126,7 +127,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
vector_length_ = acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -164,10 +165,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
}
GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition()
{
delete[] code_;
}
GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition() = default;
void GpsL2MPcpsAcquisition::stop_acquisition()
@ -239,27 +237,24 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
if (acq_parameters_.use_automatic_resampler)
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, fs_in_);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}
@ -268,6 +263,7 @@ void GpsL2MPcpsAcquisition::reset()
acquisition_->set_active(true);
}
void GpsL2MPcpsAcquisition::set_state(int state)
{
acquisition_->set_state(state);

8
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -40,7 +40,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -106,6 +108,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -154,10 +157,8 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -180,13 +181,12 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
unsigned int num_codes_;
float calculate_threshold(float pfa);
};

30
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -42,9 +42,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
#define QUANT_BITS_LOCAL_CODE 16
@ -102,24 +102,24 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// compute all the GPS L2C PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
std::vector<std::complex<float>> code(nsamples_total); // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
//d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = new uint32_t[(nsamples_total * NUM_PRNs)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp, tmp2, local_code, fft_data;
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l2c_m_code_gen_complex_sampled(code, PRN, fs_in_);
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in_);
// fill in zero padding
for (unsigned int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
@ -149,12 +149,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
@ -162,15 +157,14 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
threshold_ = 0.0;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga() = default;
void GpsL2MPcpsAcquisitionFpga::stop_acquisition()

7
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -39,7 +39,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory> // for weak_ptr
#include <string> // for string
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -168,10 +170,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
//float calculate_threshold(float pfa);
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H_ */

25
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -39,6 +39,7 @@
#include "gps_l5_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
@ -133,7 +134,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5I_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@ -159,10 +160,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
}
GpsL5iPcpsAcquisition::~GpsL5iPcpsAcquisition()
{
delete[] code_;
}
GpsL5iPcpsAcquisition::~GpsL5iPcpsAcquisition() = default;
void GpsL5iPcpsAcquisition::stop_acquisition()
@ -230,28 +228,27 @@ void GpsL5iPcpsAcquisition::init()
acquisition_->init();
}
void GpsL5iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
if (acq_parameters_.use_automatic_resampler)
{
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, fs_in_);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}
@ -260,6 +257,7 @@ void GpsL5iPcpsAcquisition::reset()
acquisition_->set_active(true);
}
void GpsL5iPcpsAcquisition::set_state(int state)
{
acquisition_->set_state(state);
@ -359,6 +357,7 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_right_block()
return acquisition_;
}
void GpsL5iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

13
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -31,8 +31,8 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_H_
#ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_
#include "channel_fsm.h"
#include "complex_byte_to_float_x2.h"
@ -40,7 +40,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -106,6 +108,7 @@ public:
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -154,7 +157,6 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
@ -179,14 +181,13 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_H_ */
#endif /* GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_ */

26
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -43,9 +43,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
@ -108,17 +108,17 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new gr_complex[nsamples_total];
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
std::vector<std::complex<float>> code(nsamples_total);
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new uint32_t[(nsamples_total * NUM_PRNs)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp, tmp2, local_code, fft_data;
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
gps_l5i_code_gen_complex_sampled(gsl::span<gr_complex>(code.data(), nsamples_total), PRN, fs_in);
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -130,7 +130,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// fill in zero padding
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -158,7 +158,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13);
@ -173,18 +173,12 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga() = default;
void GpsL5iPcpsAcquisitionFpga::stop_acquisition()

6
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -40,7 +40,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -167,9 +169,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
float calculate_threshold(float pfa);
};

7
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -145,10 +145,10 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
}
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -210,9 +210,6 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisi
}
}
delete d_fft_if;
delete d_ifft;
try
{
if (d_dump)

5
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -44,6 +44,7 @@
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -122,8 +123,8 @@ private:
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;

7
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -87,10 +87,10 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -123,9 +123,6 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
volk_gnsssdr_free(d_fft_code_B);
volk_gnsssdr_free(d_magnitude);
delete d_ifft;
delete d_fft_if;
try
{
if (d_dump)

5
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -38,6 +38,7 @@
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -105,8 +106,8 @@ private:
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_A;
gr_complex* d_fft_code_B;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;

12
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -140,10 +140,10 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_input_signal = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
d_gnss_synchro = nullptr;
d_grid_doppler_wipeoffs = nullptr;
@ -237,8 +237,6 @@ pcps_acquisition::~pcps_acquisition()
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_tmp_buffer);
volk_gnsssdr_free(d_input_signal);
delete d_ifft;
delete d_fft_if;
volk_gnsssdr_free(d_data_buffer);
if (d_cshort)
{
@ -510,11 +508,11 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &acq_parameters.doppler_max, 0);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims, &acq_parameters.doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -552,7 +550,7 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("num_dwells", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
matvar = Mat_VarCreate("num_dwells", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);

5
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -62,6 +62,7 @@
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint>
#include <memory>
#include <string>
#include <utility>
@ -138,8 +139,8 @@ private:
gr_complex* d_fft_codes;
gr_complex* d_data_buffer;
lv_16sc_t* d_data_buffer_sc;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_;
arma::fmat narrow_grid_;

13
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -93,10 +93,10 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_10_ms_buffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(50 * d_samples_per_ms * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = conf_.dump;
@ -168,6 +168,7 @@ unsigned int pcps_acquisition_fine_doppler_cc::nextPowerOf2(unsigned int n)
return n;
}
void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
@ -208,8 +209,6 @@ pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_10_ms_buffer);
delete d_ifft;
delete d_fft_if;
free_grid_memory();
}
@ -430,7 +429,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
//1. generate local code aligned with the acquisition code phase estimation
auto *code_replica = static_cast<gr_complex *>(volk_gnsssdr_malloc(signal_samples * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<gr_complex>(code_replica, signal_samples * sizeof(gr_complex)), d_gnss_synchro->PRN, d_fs_in, 0);
int shift_index = static_cast<int>(d_gnss_synchro->Acq_delay_samples);
@ -705,11 +704,11 @@ void pcps_acquisition_fine_doppler_cc::dump_results(int effective_fft_size)
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_config_doppler_max, 0);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_config_doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);

5
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -58,6 +58,7 @@
#include <gnuradio/gr_complex.h>
#include <cstdint>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -109,8 +110,8 @@ private:
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;

6
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -82,10 +82,10 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -129,8 +129,6 @@ pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
{
volk_gnsssdr_free(d_carrier);
volk_gnsssdr_free(d_fft_codes);
delete d_ifft;
delete d_fft_if;
try
{
if (d_dump)

5
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
View File

@ -54,6 +54,7 @@
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -125,8 +126,8 @@ private:
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;

7
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -97,10 +97,10 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -137,9 +137,6 @@ pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
volk_gnsssdr_free(d_correlation_minus);
volk_gnsssdr_free(d_magnitude);
delete d_ifft;
delete d_fft_if;
try
{
if (d_dump)

5
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
View File

@ -43,6 +43,7 @@
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -100,8 +101,8 @@ private:
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_data;
gr_complex* d_fft_code_pilot;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;

9
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -131,10 +131,10 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
if (d_opencl != 0)
{
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
}
// For dumping samples into a file
@ -179,11 +179,6 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
clFFT_DestroyPlan(d_cl_fft_plan);
}
else
{
delete d_ifft;
delete d_fft_if;
}
try
{

4
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
View File

@ -123,8 +123,8 @@ private:
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;

7
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -106,9 +106,9 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
d_code = new gr_complex[d_samples_per_code]();
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -122,7 +122,6 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
d_threshold = 0;
d_doppler_step = 0;
d_grid_doppler_wipeoffs = nullptr;
d_fft_if2 = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -150,8 +149,6 @@ pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_magnitude_folded);
delete d_ifft;
delete d_fft_if;
delete d_code;
delete d_possible_delay;
delete d_corr_output_f;

5
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
View File

@ -136,9 +136,8 @@ private:
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_fft_if2;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;

8
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -113,10 +113,10 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -134,6 +134,7 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_channel = 0;
}
pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
{
if (d_num_doppler_bins > 0)
@ -150,9 +151,6 @@ pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
delete d_ifft;
delete d_fft_if;
try
{
if (d_dump)

4
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
View File

@ -121,8 +121,8 @@ private:
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
float** d_grid_data;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;

17
src/algorithms/libs/CMakeLists.txt
View File

@ -92,6 +92,23 @@ else()
target_link_libraries(algorithms_libs PRIVATE Boost::filesystem Boost::system)
endif()
include(CheckCXXSourceCompiles)
check_cxx_source_compiles("
#include <span>
int main()
{ std::span<float> sv; }"
has_span
)
if(${has_span})
target_compile_definitions(algorithms_libs PUBLIC -DHAS_SPAN=1)
else()
target_include_directories(algorithms_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs/gsl/include
)
endif()
target_link_libraries(algorithms_libs
PUBLIC
Armadillo::armadillo

14
src/algorithms/libs/beidou_b1i_signal_processing.cc
View File

@ -34,7 +34,7 @@
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 2046;
bool G1[_code_length];
@ -112,12 +112,12 @@ void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
}
void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
void beidou_b1i_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _chip_shift)
{
uint32_t _code_length = 2046;
int32_t b1i_code_int[_code_length];
beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift);
beidou_b1i_code_gen_int(gsl::span<int32_t>(b1i_code_int, _code_length), _prn, _chip_shift);
for (uint32_t ii = 0; ii < _code_length; ++ii)
{
@ -126,16 +126,16 @@ void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
}
void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift)
void beidou_b1i_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _prn, uint32_t _chip_shift)
{
uint32_t _code_length = 2046;
int32_t b1i_code_int[_code_length];
beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift);
beidou_b1i_code_gen_int(gsl::span<int32_t>(b1i_code_int, _code_length), _prn, _chip_shift);
for (uint32_t ii = 0; ii < _code_length; ++ii)
{
_dest[ii] = std::complex<float>(static_cast<float>(b1i_code_int[ii]), 0.0f);
_dest[ii] = std::complex<float>(static_cast<float>(b1i_code_int[ii]), 0.0F);
}
}
@ -143,7 +143,7 @@ void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint3
/*
* Generates complex GPS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
*/
void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
void beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[2046];

17
src/algorithms/libs/beidou_b1i_signal_processing.h
View File

@ -36,20 +36,27 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//! Generates int32_t GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift);
void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates float GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift);
void beidou_b1i_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates complex GPS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift);
void beidou_b1i_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates N complex GPS L1 C/A codes for the desired SV ID and code shift
void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
void beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
void beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_ */

12
src/algorithms/libs/beidou_b3i_signal_processing.cc
View File

@ -34,7 +34,7 @@
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift)
void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int _chip_shift)
{
const unsigned int _code_length = 10230;
bool G1[_code_length];
@ -113,7 +113,9 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
// A simple error check
if ((prn_idx < 0) || (prn_idx > 63))
{
return;
}
// Assign shifted G2 register based on prn number
G2_register = G2_register_shifted[prn_idx];
@ -170,7 +172,7 @@ void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
}
void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift)
void beidou_b3i_code_gen_float(gsl::span<float> _dest, signed int _prn, unsigned int _chip_shift)
{
unsigned int _code_length = 10230;
int b3i_code_int[10230];
@ -184,7 +186,7 @@ void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip
}
void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift)
void beidou_b3i_code_gen_complex(gsl::span<std::complex<float>> _dest, signed int _prn, unsigned int _chip_shift)
{
unsigned int _code_length = 10230;
int b3i_code_int[10230];
@ -193,12 +195,12 @@ void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, un
for (unsigned int ii = 0; ii < _code_length; ++ii)
{
_dest[ii] = std::complex<float>(static_cast<float>(b3i_code_int[ii]), 0.0f);
_dest[ii] = std::complex<float>(static_cast<float>(b3i_code_int[ii]), 0.0F);
}
}
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift)
void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, unsigned int _prn, int _fs, unsigned int _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[10230];

17
src/algorithms/libs/beidou_b3i_signal_processing.h
View File

@ -39,19 +39,26 @@
#include <array>
#include <algorithm>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//! Generates int BeiDou B3I code for the desired SV ID and code shift
void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift);
void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int _chip_shift);
//! Generates float BeiDou B3I code for the desired SV ID and code shift
void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift);
void beidou_b3i_code_gen_float(gsl::span<float> _dest, signed int _prn, unsigned int _chip_shift);
//! Generates complex BeiDou B3I code for the desired SV ID and code shift, and sampled to specific sampling frequency
void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift);
void beidou_b3i_code_gen_complex(gsl::span<std::complex<float>> _dest, signed int _prn, unsigned int _chip_shift);
//! Generates N complex BeiDou B3I codes for the desired SV ID and code shift
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift, unsigned int _ncodes);
void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, unsigned int _prn, int _fs, unsigned int _chip_shift, unsigned int _ncodes);
//! Generates complex BeiDou B3I code for the desired SV ID and code shift
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift);
void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, unsigned int _prn, int _fs, unsigned int _chip_shift);
#endif /* GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_ */

96
src/algorithms/libs/galileo_e1_signal_processing.cc
View File

@ -34,12 +34,13 @@
#include "Galileo_E1.h"
#include "gnss_signal_processing.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
void galileo_e1_code_gen_int(gsl::span<int> _dest, const std::array<char, 3>& _Signal, int32_t _prn)
{
std::string _galileo_signal = _Signal;
std::string _galileo_signal = _Signal.data();
int32_t prn = _prn - 1;
int32_t index = 0;
@ -53,7 +54,7 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
{
for (char i : GALILEO_E1_B_PRIMARY_CODE[prn])
{
hex_to_binary_converter(&_dest[index], i);
hex_to_binary_converter(_dest.subspan(index, 4), i);
index += 4;
}
}
@ -61,17 +62,17 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
{
for (char i : GALILEO_E1_C_PRIMARY_CODE[prn])
{
hex_to_binary_converter(&_dest[index], i);
hex_to_binary_converter(_dest.subspan(index, 4), i);
index += 4;
}
}
}
void galileo_e1_sinboc_11_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
void galileo_e1_sinboc_11_gen_int(gsl::span<int> _dest, gsl::span<const int> _prn)
{
const uint32_t _length_in = GALILEO_E1_B_CODE_LENGTH_CHIPS;
auto _period = static_cast<uint32_t>(_length_out / _length_in);
auto _period = static_cast<uint32_t>(_dest.size() / _length_in);
for (uint32_t i = 0; i < _length_in; i++)
{
for (uint32_t j = 0; j < (_period / 2); j++)
@ -86,10 +87,10 @@ void galileo_e1_sinboc_11_gen_int(int* _dest, const int* _prn, uint32_t _length_
}
void galileo_e1_sinboc_61_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
void galileo_e1_sinboc_61_gen_int(gsl::span<int> _dest, gsl::span<const int> _prn)
{
const uint32_t _length_in = GALILEO_E1_B_CODE_LENGTH_CHIPS;
auto _period = static_cast<uint32_t>(_length_out / _length_in);
auto _period = static_cast<uint32_t>(_dest.size() / _length_in);
for (uint32_t i = 0; i < _length_in; i++)
{
@ -105,9 +106,9 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, const int* _prn, uint32_t _length_
}
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
void galileo_e1_code_gen_sinboc11_float(gsl::span<float> _dest, const std::array<char, 3>& _Signal, uint32_t _prn)
{
std::string _galileo_signal = _Signal;
std::string _galileo_signal = _Signal.data();
const auto _codeLength = static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
@ -119,18 +120,20 @@ void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t
}
void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
void galileo_e1_gen_float(gsl::span<float> _dest, gsl::span<int> _prn, const std::array<char, 3>& _Signal)
{
std::string _galileo_signal = _Signal;
std::string _galileo_signal = _Signal.data();
const uint32_t _codeLength = 12 * GALILEO_E1_B_CODE_LENGTH_CHIPS;
const float alpha = sqrt(10.0 / 11.0);
const float beta = sqrt(1.0 / 11.0);
int32_t sinboc_11[12 * 4092] = {0}; // _codeLength not accepted by Clang
int32_t sinboc_61[12 * 4092] = {0};
gsl::span<int32_t> sinboc_11_(sinboc_11, _codeLength);
gsl::span<int32_t> sinboc_61_(sinboc_61, _codeLength);
galileo_e1_sinboc_11_gen_int(sinboc_11, _prn, _codeLength); //generate sinboc(1,1) 12 samples per chip
galileo_e1_sinboc_61_gen_int(sinboc_61, _prn, _codeLength); //generate sinboc(6,1) 12 samples per chip
galileo_e1_sinboc_11_gen_int(sinboc_11_, _prn); //generate sinboc(1,1) 12 samples per chip
galileo_e1_sinboc_61_gen_int(sinboc_61_, _prn); //generate sinboc(6,1) 12 samples per chip
if (_galileo_signal.rfind("1B") != std::string::npos && _galileo_signal.length() >= 2)
{
@ -151,12 +154,12 @@ void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
}
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag)
{
// This function is based on the GNU software GPS for MATLAB in Kay Borre's book
std::string _galileo_signal = _Signal;
std::string _galileo_signal = _Signal.data();
uint32_t _samplesPerCode;
const int32_t _codeFreqBasis = GALILEO_E1_CODE_CHIP_RATE_HZ; // Hz
auto _codeLength = static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
@ -167,73 +170,78 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
const uint32_t delay = ((static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) - _chip_shift) % static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS)) * _samplesPerCode / GALILEO_E1_B_CODE_LENGTH_CHIPS;
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); // generate Galileo E1 code, 1 sample per chip
float* _signal_E1;
galileo_e1_code_gen_int(gsl::span<int32_t>(primary_code_E1_chips, static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS)), _Signal, _prn); // generate Galileo E1 code, 1 sample per chip
_codeLength = _samplesPerChip * GALILEO_E1_B_CODE_LENGTH_CHIPS;
_signal_E1 = new float[_codeLength];
std::unique_ptr<float> _signal_E1{new float[_codeLength]};
gsl::span<float> _signal_E1_span(_signal_E1, _codeLength);
if (_cboc == true)
{
galileo_e1_gen_float(_signal_E1, primary_code_E1_chips, _Signal); // generate cboc 12 samples per chip
galileo_e1_gen_float(_signal_E1_span, gsl::span<int>(primary_code_E1_chips, static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS)), _Signal); // generate cboc 12 samples per chip
}
else
{
auto* _signal_E1_int = static_cast<int32_t*>(volk_gnsssdr_malloc(_codeLength * sizeof(int32_t), volk_gnsssdr_get_alignment()));
galileo_e1_sinboc_11_gen_int(_signal_E1_int, primary_code_E1_chips, _codeLength); // generate sinboc(1,1) 2 samples per chip
gsl::span<int32_t> _signal_E1_int_span(_signal_E1_int, _codeLength);
galileo_e1_sinboc_11_gen_int(_signal_E1_int_span, gsl::span<int>(primary_code_E1_chips, static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS))); // generate sinboc(1,1) 2 samples per chip
for (uint32_t ii = 0; ii < _codeLength; ++ii)
{
_signal_E1[ii] = static_cast<float>(_signal_E1_int[ii]);
_signal_E1_span[ii] = static_cast<float>(_signal_E1_int_span[ii]);
}
volk_gnsssdr_free(_signal_E1_int);
}
if (_fs != _samplesPerChip * _codeFreqBasis)
{
auto* _resampled_signal = new float[_samplesPerCode];
std::unique_ptr<float> _resampled_signal{new float[_samplesPerCode]};
resampler(_signal_E1, _resampled_signal, _samplesPerChip * _codeFreqBasis, _fs,
_codeLength, _samplesPerCode); // resamples code to fs
resampler(gsl::span<float>(_signal_E1, _codeLength), gsl::span<float>(_resampled_signal, _samplesPerCode), _samplesPerChip * _codeFreqBasis, _fs); // resamples code to fs
delete[] _signal_E1;
_signal_E1 = _resampled_signal;
_signal_E1 = std::move(_resampled_signal);
}
uint32_t size_signal_E1 = _codeLength;
if (_fs != _samplesPerChip * _codeFreqBasis)
{
size_signal_E1 = _samplesPerCode;
}
gsl::span<float> _signal_E1_span_aux(_signal_E1, size_signal_E1);
if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2 && _secondary_flag)
{
auto* _signal_E1C_secondary = new float[static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode];
std::unique_ptr<float> _signal_E1C_secondary{new float[static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode]};
gsl::span<float> _signal_E1C_secondary_span(_signal_E1C_secondary, static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode);
for (uint32_t i = 0; i < static_cast<uint32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH); i++)
{
for (unsigned k = 0; k < _samplesPerCode; k++)
{
_signal_E1C_secondary[i * _samplesPerCode + k] = _signal_E1[k] * (GALILEO_E1_C_SECONDARY_CODE.at(i) == '0' ? 1.0f : -1.0f);
_signal_E1C_secondary_span[i * _samplesPerCode + k] = _signal_E1_span_aux[k] * (GALILEO_E1_C_SECONDARY_CODE.at(i) == '0' ? 1.0F : -1.0F);
}
}
_samplesPerCode *= static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH);
delete[] _signal_E1;
_signal_E1 = _signal_E1C_secondary;
_signal_E1 = std::move(_signal_E1C_secondary);
}
if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2 && _secondary_flag)
{
size_signal_E1 = static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode;
}
gsl::span<float> _signal_E1_span_aux2(_signal_E1, size_signal_E1);
for (uint32_t i = 0; i < _samplesPerCode; i++)
{
_dest[(i + delay) % _samplesPerCode] = _signal_E1[i];
_dest[(i + delay) % _samplesPerCode] = _signal_E1_span_aux2[i];
}
delete[] _signal_E1;
volk_gnsssdr_free(primary_code_E1_chips);
}
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
void galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag)
{
std::string _galileo_signal = _Signal;
std::string _galileo_signal = _Signal.data();
const int32_t _codeFreqBasis = GALILEO_E1_CODE_CHIP_RATE_HZ; // Hz
auto _samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) /
(static_cast<double>(_codeFreqBasis) / static_cast<double>(GALILEO_E1_B_CODE_LENGTH_CHIPS)));
@ -244,25 +252,25 @@ void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signa
}
auto* real_code = static_cast<float*>(volk_gnsssdr_malloc(_samplesPerCode * sizeof(float), volk_gnsssdr_get_alignment()));
galileo_e1_code_gen_float_sampled(real_code, _Signal, _cboc, _prn, _fs, _chip_shift, _secondary_flag);
gsl::span<float> real_code_span(real_code, _samplesPerCode);
galileo_e1_code_gen_float_sampled(real_code_span, _Signal, _cboc, _prn, _fs, _chip_shift, _secondary_flag);
for (uint32_t ii = 0; ii < _samplesPerCode; ++ii)
{
_dest[ii] = std::complex<float>(real_code[ii], 0.0f);
_dest[ii] = std::complex<float>(real_code_span[ii], 0.0F);
}
volk_gnsssdr_free(real_code);
}
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
galileo_e1_code_gen_float_sampled(_dest, _Signal, _cboc, _prn, _fs, _chip_shift, false);
}
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
void galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
galileo_e1_code_gen_complex_sampled(_dest, _Signal, _cboc, _prn, _fs, _chip_shift, false);

18
src/algorithms/libs/galileo_e1_signal_processing.h
View File

@ -32,21 +32,29 @@
#ifndef GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
#define GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
#include <array>
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C sinboc).
*
*/
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn);
void galileo_e1_code_gen_sinboc11_float(gsl::span<float> _dest, const std::array<char, 3>& _Signal, uint32_t _prn);
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C, cboc or sinboc
* and the sample frequency _fs).
*
*/
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag);
@ -55,7 +63,7 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
* and the sample frequency _fs).
*
*/
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
/*!
@ -63,14 +71,14 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
* and the sample frequency _fs).
*
*/
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
void galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag);
/*!
* \brief galileo_e1_code_gen_complex_sampled without _secondary_flag for backward compatibility.
*/
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
void galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, const std::array<char, 3>& _Signal,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_ */

34
src/algorithms/libs/galileo_e5_signal_processing.cc
View File

@ -35,9 +35,10 @@
#include "Galileo_E5a.h"
#include "gnss_signal_processing.h"
#include <gnuradio/gr_complex.h>
#include <memory>
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3])
void galileo_e5_a_code_gen_complex_primary(gsl::span<std::complex<float>> _dest, int32_t _prn, const std::array<char, 3>& _Signal)
{
uint32_t prn = _prn - 1;
uint32_t index = 0;
@ -100,7 +101,7 @@ void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _
}
void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
void galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, const std::array<char, 3>& _Signal,
uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
uint32_t _samplesPerCode;
@ -108,9 +109,9 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
const uint32_t _codeLength = GALILEO_E5A_CODE_LENGTH_CHIPS;
const int32_t _codeFreqBasis = GALILEO_E5A_CODE_CHIP_RATE_HZ;
auto* _code = new std::complex<float>[_codeLength]();
galileo_e5_a_code_gen_complex_primary(_code, _prn, _Signal);
std::unique_ptr<std::complex<float>> _code{new std::complex<float>[_codeLength]};
gsl::span<std::complex<float>> _code_span(_code, _codeLength);
galileo_e5_a_code_gen_complex_primary(_code_span, _prn, _Signal);
_samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
@ -118,25 +119,18 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
if (_fs != _codeFreqBasis)
{
std::complex<float>* _resampled_signal;
if (posix_memalign(reinterpret_cast<void**>(&_resampled_signal), 16, _samplesPerCode * sizeof(gr_complex)) == 0)
{
};
resampler(_code, _resampled_signal, _codeFreqBasis, _fs, _codeLength, _samplesPerCode); // resamples code to fs
delete[] _code;
_code = _resampled_signal;
}
for (uint32_t i = 0; i < _samplesPerCode; i++)
{
_dest[(i + delay) % _samplesPerCode] = _code[i];
std::unique_ptr<std::complex<float>> _resampled_signal{new std::complex<float>[_samplesPerCode]};
resampler(_code_span, gsl::span<std::complex<float>>(_resampled_signal, _samplesPerCode), _codeFreqBasis, _fs); // resamples code to fs
_code = std::move(_resampled_signal);
}
uint32_t size_code = _codeLength;
if (_fs != _codeFreqBasis)
{
free(_code);
size_code = _samplesPerCode;
}
else
gsl::span<std::complex<float>> _code_span_aux(_code, size_code);
for (uint32_t i = 0; i < _samplesPerCode; i++)
{
delete[] _code;
_dest[(i + delay) % _samplesPerCode] = _code_span_aux[i];
}
}

15
src/algorithms/libs/galileo_e5_signal_processing.h
View File

@ -36,22 +36,27 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
/*!
* \brief Generates Galileo E5a code at 1 sample/chip
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3]);
void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest, std::complex<float>* _primary, uint32_t _prn, char _Signal[3]);
void galileo_e5_a_code_gen_complex_primary(gsl::span<std::complex<float>> _dest, int32_t _prn, const std::array<char, 3>& _Signal);
/*!
* \brief Generates Galileo E5a complex code, shifted to the desired chip and sampled at a frequency fs
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest,
char _Signal[3], uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
void galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest,
const std::array<char, 3>& _Signal, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_ */

6
src/algorithms/libs/glonass_l1_signal_processing.cc
View File

@ -34,7 +34,7 @@
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
void glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
{
const uint32_t _code_length = 511;
bool G1[_code_length];
@ -104,7 +104,7 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn
/*
* Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
*/
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[511];
@ -121,7 +121,7 @@ void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint3
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>>(_code, 511), _chip_shift); //generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{

13
src/algorithms/libs/glonass_l1_signal_processing.h
View File

@ -36,13 +36,20 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*int32_t _prn,*/ uint32_t _chip_shift);
void glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /*int32_t _prn,*/ uint32_t _chip_shift);
//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift);
void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

6
src/algorithms/libs/glonass_l2_signal_processing.cc
View File

@ -34,7 +34,7 @@
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
void glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
{
const uint32_t _code_length = 511;
bool G1[_code_length];
@ -104,7 +104,7 @@ void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,
/*
* Generates complex GLONASS L2 C/A code for the desired SV ID and sampled to specific sampling frequency
*/
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[511];
@ -121,7 +121,7 @@ void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint3
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l2_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>>(_code, 511), _chip_shift); //generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{

13
src/algorithms/libs/glonass_l2_signal_processing.h
View File

@ -36,13 +36,20 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//!Generates complex GLONASS L2 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /*int32_t _prn,*/ uint32_t _chip_shift);
void glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /*int32_t _prn,*/ uint32_t _chip_shift);
//! Generates N complex GLONASS L2 C/A codes for the desired SV ID and code shift
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GLONASS L2 C/A code for the desired SV ID and code shift
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift);
void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_ */

154
src/algorithms/libs/gnss_signal_processing.cc
View File

@ -38,135 +38,135 @@
auto auxCeil2 = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, uint32_t _samps)
void complex_exp_gen(gsl::span<std::complex<float>> _dest, double _f, double _fs)
{
gr::fxpt_nco d_nco;
d_nco.set_freq((GPS_TWO_PI * _f) / _fs);
d_nco.sincos(_dest, _samps, 1);
d_nco.sincos(_dest.data(), _dest.size(), 1);
}
void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs, uint32_t _samps)
void complex_exp_gen_conj(gsl::span<std::complex<float>> _dest, double _f, double _fs)
{
gr::fxpt_nco d_nco;
d_nco.set_freq(-(GPS_TWO_PI * _f) / _fs);
d_nco.sincos(_dest, _samps, 1);
d_nco.sincos(_dest.data(), _dest.size(), 1);
}
void hex_to_binary_converter(int32_t* _dest, char _from)
void hex_to_binary_converter(gsl::span<int32_t> _dest, char _from)
{
switch (_from)
{
case '0':
*(_dest) = 1;
*(_dest + 1) = 1;
*(_dest + 2) = 1;
*(_dest + 3) = 1;
_dest[0] = 1;
_dest[1] = 1;
_dest[2] = 1;
_dest[3] = 1;
break;
case '1':
*(_dest) = 1;
*(_dest + 1) = 1;
*(_dest + 2) = 1;
*(_dest + 3) = -1;
_dest[0] = 1;
_dest[1] = 1;
_dest[2] = 1;
_dest[3] = -1;
break;
case '2':
*(_dest) = 1;
*(_dest + 1) = 1;
*(_dest + 2) = -1;
*(_dest + 3) = 1;
_dest[0] = 1;
_dest[1] = 1;
_dest[2] = -1;
_dest[3] = 1;
break;
case '3':
*(_dest) = 1;
*(_dest + 1) = 1;
*(_dest + 2) = -1;
*(_dest + 3) = -1;
_dest[0] = 1;
_dest[1] = 1;
_dest[2] = -1;
_dest[3] = -1;
break;
case '4':
*(_dest) = 1;
*(_dest + 1) = -1;
*(_dest + 2) = 1;
*(_dest + 3) = 1;
_dest[0] = 1;
_dest[1] = -1;
_dest[2] = 1;
_dest[3] = 1;
break;
case '5':
*(_dest) = 1;
*(_dest + 1) = -1;
*(_dest + 2) = 1;
*(_dest + 3) = -1;
_dest[0] = 1;
_dest[1] = -1;
_dest[2] = 1;
_dest[3] = -1;
break;
case '6':
*(_dest) = 1;
*(_dest + 1) = -1;
*(_dest + 2) = -1;
*(_dest + 3) = 1;
_dest[0] = 1;
_dest[1] = -1;
_dest[2] = -1;
_dest[3] = 1;
break;
case '7':
*(_dest) = 1;
*(_dest + 1) = -1;
*(_dest + 2) = -1;
*(_dest + 3) = -1;
_dest[0] = 1;
_dest[1] = -1;
_dest[2] = -1;
_dest[3] = -1;
break;
case '8':
*(_dest) = -1;
*(_dest + 1) = 1;
*(_dest + 2) = 1;
*(_dest + 3) = 1;
_dest[0] = -1;
_dest[1] = 1;
_dest[2] = 1;
_dest[3] = 1;
break;
case '9':
*(_dest) = -1;
*(_dest + 1) = 1;
*(_dest + 2) = 1;
*(_dest + 3) = -1;
_dest[0] = -1;
_dest[1] = 1;
_dest[2] = 1;
_dest[3] = -1;
break;
case 'A':
*(_dest) = -1;
*(_dest + 1) = 1;
*(_dest + 2) = -1;
*(_dest + 3) = 1;
_dest[0] = -1;
_dest[1] = 1;
_dest[2] = -1;
_dest[3] = 1;
break;
case 'B':
*(_dest) = -1;
*(_dest + 1) = 1;
*(_dest + 2) = -1;
*(_dest + 3) = -1;
_dest[0] = -1;
_dest[1] = 1;
_dest[2] = -1;
_dest[3] = -1;
break;
case 'C':
*(_dest) = -1;
*(_dest + 1) = -1;
*(_dest + 2) = 1;
*(_dest + 3) = 1;
_dest[0] = -1;
_dest[1] = -1;
_dest[2] = 1;
_dest[3] = 1;
break;
case 'D':
*(_dest) = -1;
*(_dest + 1) = -1;
*(_dest + 2) = 1;
*(_dest + 3) = -1;
_dest[0] = -1;
_dest[1] = -1;
_dest[2] = 1;
_dest[3] = -1;
break;
case 'E':
*(_dest) = -1;
*(_dest + 1) = -1;
*(_dest + 2) = -1;
*(_dest + 3) = 1;
_dest[0] = -1;
_dest[1] = -1;
_dest[2] = -1;
_dest[3] = 1;
break;
case 'F':
*(_dest) = -1;
*(_dest + 1) = -1;
*(_dest + 2) = -1;
*(_dest + 3) = -1;
_dest[0] = -1;
_dest[1] = -1;
_dest[2] = -1;
_dest[3] = -1;
break;
}
}
void resampler(const float* _from, float* _dest, float _fs_in,
float _fs_out, uint32_t _length_in, uint32_t _length_out)
void resampler(const gsl::span<float> _from, gsl::span<float> _dest, float _fs_in,
float _fs_out)
{
uint32_t _codeValueIndex;
float aux;
//--- Find time constants --------------------------------------------------
const float _t_in = 1 / _fs_in; // Incoming sampling period in sec
const float _t_out = 1 / _fs_out; // Out sampling period in sec
for (uint32_t i = 0; i < _length_out - 1; i++)
for (uint32_t i = 0; i < _dest.size() - 1; i++)
{
//=== Digitizing =======================================================
//--- compute index array to read sampled values -------------------------
@ -178,19 +178,19 @@ void resampler(const float* _from, float* _dest, float _fs_in,
_dest[i] = _from[_codeValueIndex];
}
//--- Correct the last index (due to number rounding issues) -----------
_dest[_length_out - 1] = _from[_length_in - 1];
_dest[_dest.size() - 1] = _from[_from.size() - 1];
}
void resampler(const std::complex<float>* _from, std::complex<float>* _dest, float _fs_in,
float _fs_out, uint32_t _length_in, uint32_t _length_out)
void resampler(gsl::span<const std::complex<float>> _from, gsl::span<std::complex<float>> _dest, float _fs_in,
float _fs_out)
{
uint32_t _codeValueIndex;
float aux;
//--- Find time constants --------------------------------------------------
const float _t_in = 1 / _fs_in; // Incoming sampling period in sec
const float _t_out = 1 / _fs_out; // Out sampling period in sec
for (uint32_t i = 0; i < _length_out - 1; i++)
for (uint32_t i = 0; i < _dest.size() - 1; i++)
{
//=== Digitizing =======================================================
//--- compute index array to read sampled values -------------------------
@ -202,5 +202,5 @@ void resampler(const std::complex<float>* _from, std::complex<float>* _dest, flo
_dest[i] = _from[_codeValueIndex];
}
//--- Correct the last index (due to number rounding issues) -----------
_dest[_length_out - 1] = _from[_length_in - 1];
_dest[_dest.size() - 1] = _from[_from.size() - 1];
}

27
src/algorithms/libs/gnss_signal_processing.h
View File

@ -38,42 +38,45 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
/*!
* \brief This function generates a complex exponential in _dest.
*
*/
void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs,
uint32_t _samps);
void complex_exp_gen(gsl::span<std::complex<float>> _dest, double _f, double _fs);
/*!
* \brief This function generates a conjugate complex exponential in _dest.
*
*/
void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs,
uint32_t _samps);
void complex_exp_gen_conj(gsl::span<std::complex<float>> _dest, double _f, double _fs);
/*!
* \brief This function makes a conversion from hex (the input is a char)
* to binary (the output are 4 ints with +1 or -1 values).
*
*/
void hex_to_binary_converter(int32_t* _dest, char _from);
void hex_to_binary_converter(gsl::span<int32_t> _dest, char _from);
/*!
* \brief This function resamples a sequence of float values.
*
*/
void resampler(const float* _from, float* _dest,
float _fs_in, float _fs_out, uint32_t _length_in,
uint32_t _length_out);
void resampler(const gsl::span<float> _from, gsl::span<float> _dest,
float _fs_in, float _fs_out);
/*!
* \brief This function resamples a sequence of complex values.
*
*/
void resampler(const std::complex<float>* _from, std::complex<float>* _dest,
float _fs_in, float _fs_out, uint32_t _length_in,
uint32_t _length_out);
void resampler(gsl::span<const std::complex<float>> _from, gsl::span<std::complex<float>> _dest,
float _fs_in, float _fs_out);
#endif /* GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_ */

43
src/algorithms/libs/gps_l2c_signal.cc
View File

@ -33,6 +33,7 @@
#include "gps_l2c_signal.h"
#include "GPS_L2C.h"
#include <cmath>
#include <memory>
int32_t gps_l2c_m_shift(int32_t x)
@ -41,7 +42,7 @@ int32_t gps_l2c_m_shift(int32_t x)
}
void gps_l2c_m_code(int32_t* _dest, uint32_t _prn)
void gps_l2c_m_code(gsl::span<int32_t> _dest, uint32_t _prn)
{
int32_t x;
x = GPS_L2C_M_INIT_REG[_prn - 1];
@ -53,51 +54,48 @@ void gps_l2c_m_code(int32_t* _dest, uint32_t _prn)
}
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, uint32_t _prn)
void gps_l2c_m_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn)
{
auto* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L2_M_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
gps_l2c_m_code(_code, _prn);
gps_l2c_m_code(_code_span, _prn);
}
for (int32_t i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[i], 0.0);
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[i], 0.0);
}
delete[] _code;
}
void gps_l2c_m_code_gen_float(float* _dest, uint32_t _prn)
void gps_l2c_m_code_gen_float(gsl::span<float> _dest, uint32_t _prn)
{
auto* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L2_M_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
gps_l2c_m_code(_code, _prn);
gps_l2c_m_code(_code_span, _prn);
}
for (int32_t i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code_span[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L2C M code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
void gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs)
{
auto* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L2_M_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
gps_l2c_m_code(_code, _prn);
gps_l2c_m_code(_code_span, _prn);
}
int32_t _samplesPerCode, _codeValueIndex;
@ -112,27 +110,22 @@ void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _pr
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L2_M_CODE_RATE_HZ); // C/A chip period in sec
//float aux;
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
//--- Make index array to read L2C code values -------------------------
//TODO: Check this formula! Seems to start with an extra sample
_codeValueIndex = std::ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
//aux = (_ts * (i + 1)) / _tc;
//_codeValueIndex = static_cast<int32_t>(static_cast<long>(aux)) - 1;
//--- Make the digitized version of the L2C code -----------------------
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0);
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[_codeLength - 1], 0);
}
else
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0); //repeat the chip -> upsample
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[_codeValueIndex], 0); //repeat the chip -> upsample
}
}
delete[] _code;
}

13
src/algorithms/libs/gps_l2c_signal.h
View File

@ -36,12 +36,19 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//! Generates complex GPS L2C M code for the desired SV ID
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
void gps_l2c_m_code_gen_float(float* _dest, uint32_t _prn);
void gps_l2c_m_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
void gps_l2c_m_code_gen_float(gsl::span<float> _dest, uint32_t _prn);
//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
void gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs);
#endif /* GNSS_GPS_L2C_SIGNAL_H_ */

76
src/algorithms/libs/gps_l5_signal.cc
View File

@ -131,7 +131,7 @@ std::deque<bool> make_l5q_xb()
}
void make_l5i(int32_t* _dest, int32_t prn)
void make_l5i(gsl::span<int32_t> _dest, int32_t prn)
{
int32_t xb_offset = GPS_L5I_INIT_REG[prn];
@ -151,7 +151,7 @@ void make_l5i(int32_t* _dest, int32_t prn)
}
void make_l5q(int32_t* _dest, int32_t prn)
void make_l5q(gsl::span<int32_t> _dest, int32_t prn)
{
int32_t xb_offset = GPS_L5Q_INIT_REG[prn];
@ -171,51 +171,48 @@ void make_l5q(int32_t* _dest, int32_t prn)
}
void gps_l5i_code_gen_complex(std::complex<float>* _dest, uint32_t _prn)
void gps_l5i_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn)
{
auto* _code = new int32_t[GPS_L5I_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L5I_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L5I_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
make_l5i(_code, _prn - 1);
make_l5i(_code_span, _prn - 1);
}
for (int32_t i = 0; i < GPS_L5I_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[i], 0.0);
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[i], 0.0);
}
delete[] _code;
}
void gps_l5i_code_gen_float(float* _dest, uint32_t _prn)
void gps_l5i_code_gen_float(gsl::span<float> _dest, uint32_t _prn)
{
auto* _code = new int32_t[GPS_L5I_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L5I_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L5I_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
make_l5i(_code, _prn - 1);
make_l5i(_code_span, _prn - 1);
}
for (int32_t i = 0; i < GPS_L5I_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code_span[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L5i code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
void gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs)
{
auto* _code = new int32_t[GPS_L5I_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L5I_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L5I_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
make_l5i(_code, _prn - 1);
make_l5i(_code_span, _prn - 1);
}
int32_t _samplesPerCode, _codeValueIndex;
@ -241,62 +238,58 @@ void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn,
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0.0);
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[_codeLength - 1], 0.0);
}
else
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0.0); // repeat the chip -> upsample
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[_codeValueIndex], 0.0); // repeat the chip -> upsample
}
}
delete[] _code;
}
void gps_l5q_code_gen_complex(std::complex<float>* _dest, uint32_t _prn)
void gps_l5q_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn)
{
auto* _code = new int32_t[GPS_L5Q_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L5Q_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L5Q_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
make_l5q(_code, _prn - 1);
make_l5q(_code_span, _prn - 1);
}
for (int32_t i = 0; i < GPS_L5Q_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[i], 0.0);
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[i], 0.0);
}
delete[] _code;
}
void gps_l5q_code_gen_float(float* _dest, uint32_t _prn)
void gps_l5q_code_gen_float(gsl::span<float> _dest, uint32_t _prn)
{
auto* _code = new int32_t[GPS_L5Q_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L5Q_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L5Q_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
make_l5q(_code, _prn - 1);
make_l5q(_code_span, _prn - 1);
}
for (int32_t i = 0; i < GPS_L5Q_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code_span[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L5Q code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
void gps_l5q_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs)
{
auto* _code = new int32_t[GPS_L5Q_CODE_LENGTH_CHIPS];
std::unique_ptr<int32_t> _code{new int32_t[GPS_L5Q_CODE_LENGTH_CHIPS]};
gsl::span<int32_t> _code_span(_code, GPS_L5Q_CODE_LENGTH_CHIPS);
if (_prn > 0 and _prn < 51)
{
make_l5q(_code, _prn - 1);
make_l5q(_code_span, _prn - 1);
}
int32_t _samplesPerCode, _codeValueIndex;
@ -323,12 +316,11 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn,
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0);
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[_codeLength - 1], 0);
}
else
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0); // repeat the chip -> upsample
_dest[i] = std::complex<float>(1.0 - 2.0 * _code_span[_codeValueIndex], 0); // repeat the chip -> upsample
}
}
delete[] _code;
}

19
src/algorithms/libs/gps_l5_signal.h
View File

@ -36,23 +36,30 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//! Generates complex GPS L5I code for the desired SV ID
void gps_l5i_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
void gps_l5i_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
//! Generates real GPS L5I code for the desired SV ID
void gps_l5i_code_gen_float(float* _dest, uint32_t _prn);
void gps_l5i_code_gen_float(gsl::span<float> _dest, uint32_t _prn);
//! Generates complex GPS L5Q code for the desired SV ID
void gps_l5q_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
void gps_l5q_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
//! Generates real GPS L5Q code for the desired SV ID
void gps_l5q_code_gen_float(float* _dest, uint32_t _prn);
void gps_l5q_code_gen_float(gsl::span<float> _dest, uint32_t _prn);
//! Generates complex GPS L5I code for the desired SV ID, and sampled to specific sampling frequency
void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
void gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs);
//! Generates complex GPS L5Q code for the desired SV ID, and sampled to specific sampling frequency
void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
void gps_l5q_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs);
#endif /* GNSS_SDR_GPS_L5_SIGNAL_H_ */

10
src/algorithms/libs/gps_sdr_signal_processing.cc
View File

@ -34,7 +34,7 @@
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void gps_l1_ca_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 1023;
bool G1[_code_length];
@ -116,7 +116,7 @@ void gps_l1_ca_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
}
void gps_l1_ca_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
void gps_l1_ca_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 1023;
int32_t ca_code_int[_code_length];
@ -130,7 +130,7 @@ void gps_l1_ca_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
}
void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift)
void gps_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 1023;
int32_t ca_code_int[_code_length] = {0};
@ -139,7 +139,7 @@ void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32
for (uint32_t ii = 0; ii < _code_length; ++ii)
{
_dest[ii] = std::complex<float>(static_cast<float>(ca_code_int[ii]), 0.0f);
_dest[ii] = std::complex<float>(static_cast<float>(ca_code_int[ii]), 0.0F);
}
}
@ -148,7 +148,7 @@ void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32
* Generates complex GPS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
* NOTICE: the number of samples is rounded towards zero (integer truncation)
*/
void gps_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[1023];

17
src/algorithms/libs/gps_sdr_signal_processing.h
View File

@ -36,19 +36,26 @@
#include <complex>
#include <cstdint>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
//! Generates int GPS L1 C/A code for the desired SV ID and code shift
void gps_l1_ca_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift);
void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates float GPS L1 C/A code for the desired SV ID and code shift
void gps_l1_ca_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift);
void gps_l1_ca_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates complex GPS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift);
void gps_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates N complex GPS L1 C/A codes for the desired SV ID and code shift
void gps_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GPS L1 C/A code for the desired SV ID and code shift
void gps_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_ */

27
src/algorithms/libs/gsl/include/gsl/gsl Normal file
View File

@ -0,0 +1,27 @@
//
// gsl-lite is based on GSL: Guidelines Support Library.
// For more information see https://github.com/martinmoene/gsl-lite
//
// Copyright (c) 2015 Martin Moene
// Copyright (c) 2015 Microsoft Corporation. All rights reserved.
//
// This code is licensed under the MIT License (MIT).
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
// mimic MS include hierarchy
#pragma once
#ifndef GSL_GSL_H_INCLUDED
#define GSL_GSL_H_INCLUDED
#include "gsl-lite.hpp"
#endif // GSL_GSL_H_INCLUDED

3110
src/algorithms/libs/gsl/include/gsl/gsl-lite.hpp Normal file
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File diff suppressed because it is too large Load Diff

2
src/algorithms/libs/rtklib/rtklib_ionex.cc
View File

@ -149,7 +149,7 @@ tec_t *addtec(const double *lats, const double *lons, const double *hgts,
for (i = 0; i < n; i++)
{
p->data[i] = 0.0;
p->rms[i] = 0.0f;
p->rms[i] = 0.0F;
}
nav->nt++;
return p;

8
src/algorithms/libs/rtklib/rtklib_preceph.cc
View File

@ -209,14 +209,14 @@ void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, co
for (j = 0; j < 4; j++)
{
peph.pos[i][j] = 0.0;
peph.std[i][j] = 0.0f;
peph.std[i][j] = 0.0F;
peph.vel[i][j] = 0.0;
peph.vst[i][j] = 0.0f;
peph.vst[i][j] = 0.0F;
}
for (j = 0; j < 3; j++)
{
peph.cov[i][j] = 0.0f;
peph.vco[i][j] = 0.0f;
peph.cov[i][j] = 0.0F;
peph.vco[i][j] = 0.0F;
}
}
for (i = pred_o = pred_c = v = 0; i < n && fgets(buff, sizeof(buff), fp); i++)

16
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -778,7 +778,7 @@ unsigned int getbitu(const unsigned char *buff, int pos, int len)
int i;
for (i = pos; i < pos + len; i++)
{
bits = (bits << 1) + ((buff[i / 8] >> (7 - i % 8)) & 1u);
bits = (bits << 1) + ((buff[i / 8] >> (7 - i % 8)) & 1U);
}
return bits;
}
@ -787,11 +787,11 @@ unsigned int getbitu(const unsigned char *buff, int pos, int len)
int getbits(const unsigned char *buff, int pos, int len)
{
unsigned int bits = getbitu(buff, pos, len);
if (len <= 0 || 32 <= len || !(bits & (1u << (len - 1))))
if (len <= 0 || 32 <= len || !(bits & (1U << (len - 1))))
{
return static_cast<int>(bits);
}
return static_cast<int>(bits | (~0u << len)); /* extend sign */
return static_cast<int>(bits | (~0U << len)); /* extend sign */
}
@ -805,7 +805,7 @@ int getbits(const unsigned char *buff, int pos, int len)
*-----------------------------------------------------------------------------*/
void setbitu(unsigned char *buff, int pos, int len, unsigned int data)
{
unsigned int mask = 1u << (len - 1);
unsigned int mask = 1U << (len - 1);
int i;
if (len <= 0 || 32 < len)
{
@ -815,11 +815,11 @@ void setbitu(unsigned char *buff, int pos, int len, unsigned int data)
{
if (data & mask)
{
buff[i / 8] |= 1u << (7 - i % 8);
buff[i / 8] |= 1U << (7 - i % 8);
}
else
{
buff[i / 8] &= ~(1u << (7 - i % 8));
buff[i / 8] &= ~(1U << (7 - i % 8));
}
}
}
@ -2080,10 +2080,10 @@ unsigned int tickget(void)
/* linux kernel > 2.6.28 */
if (!clock_gettime(CLOCK_MONOTONIC_RAW, &tp))
{
return tp.tv_sec * 1000u + tp.tv_nsec / 1000000u;
return tp.tv_sec * 1000U + tp.tv_nsec / 1000000U;
}
gettimeofday(&tv, nullptr);
return tv.tv_sec * 1000u + tv.tv_usec / 1000u;
return tv.tv_sec * 1000U + tv.tv_usec / 1000U;
#else
gettimeofday(&tv, NULL);

4
src/algorithms/libs/rtklib/rtklib_rtkpos.cc
View File

@ -2075,10 +2075,10 @@ int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa)
trace(4, "N(2)=");
tracemat(4, b + nb, 1, nb, 10, 3);
rtk->sol.ratio = s[0] > 0 ? static_cast<float>(s[1] / s[0]) : 0.0f;
rtk->sol.ratio = s[0] > 0 ? static_cast<float>(s[1] / s[0]) : 0.0F;
if (rtk->sol.ratio > 999.9)
{
rtk->sol.ratio = 999.9f;
rtk->sol.ratio = 999.9F;
}
/* validation by popular ratio-test */

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