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code cleaning

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This commit is contained in:
Carles Fernandez 2015-06-06 01:21:00 +02:00
parent 8630cf2fbe
commit 7e04308a67
7 changed files with 334 additions and 353 deletions
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3
src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc
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@ -124,7 +124,8 @@ int mixed_observables_cc::general_work (int noutput_items, gr_vector_int &ninput
*/
current_gnss_synchro[i].Flag_valid_pseudorange = false;
current_gnss_synchro[i].Pseudorange_m = 0.0;
if(current_gnss_synchro[i].Signal[0]=='2'){
if(current_gnss_synchro[i].Signal[0] == '2')
{
if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
{
//record the word structure in a map for pseudorange computation

80
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
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@ -97,7 +97,6 @@ gps_l2_m_telemetry_decoder_cc::~gps_l2_m_telemetry_decoder_cc()
}
void gps_l2_m_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
unsigned ninputs = ninput_items_required.size ();
@ -106,15 +105,16 @@ void gps_l2_m_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &
//LOG(INFO) << "forecast(): " << "noutput_items=" << noutput_items << "\tninput_items_required ninput_items_required.size()=" << ninput_items_required.size();
}
void gps_l2_m_telemetry_decoder_cc::set_decimation(int decimation)
{
d_decimation_output_factor = decimation;
}
int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
//LOG(INFO) << "general_work(): " << "noutput_items=" << noutput_items << "\toutput_items real size=" << output_items.size() << "\tninput_items size=" << ninput_items.size() << "\tinput_items real size=" << input_items.size() << "\tninput_items[0]=" << ninput_items[0];
// get pointers on in- and output gnss-synchro objects
const Gnss_Synchro *in = (const Gnss_Synchro *) input_items[0]; // input
Gnss_Synchro *out = (Gnss_Synchro *) output_items[0]; // output
@ -125,13 +125,7 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
bool flag_new_cnav_frame = false;
int last_frame_preamble_start = 0;
// copy correlation samples into samples vector
//for (int i = 0; i < noutput_items; i++)
/// {
// check if channel is in tracking state
// {
d_sample_buf.push_back(in[0].Prompt_I);
// }
// }
consume_each(1); //one by one
@ -142,54 +136,33 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
{
//LOG(INFO)<< "Discarting channel "<<d_channel<<" tracking not ready!"<<std::endl;
d_flag_valid_word = false;
}else{
}
else
{
d_flag_invert_buffer_symbols = d_flag_invert_input_symbols;
while (true)
{
if (d_flag_invert_buffer_symbols == true)
{
// for (int m=0;m<d_sample_buf.size();m++)
// {
// d_sample_buf.at(m)=-d_sample_buf.at(m);
// }
for (std::vector<double>::iterator symbol_it = d_sample_buf.begin(); symbol_it != d_sample_buf.end(); symbol_it++)
{
*symbol_it = -(*symbol_it);
}
//LOG(INFO)<<"Inverting buffer symbols";
}
//debug
// std::stringstream ss2;
// for (std::vector<double>::const_iterator symbol_it = d_sample_buf.begin(); symbol_it < d_sample_buf.end(); ++symbol_it)
// {
//
// ss2<<*symbol_it<<",";
// if(*symbol_it>=0)
// {
// ss2<<'1';
// }else{
// ss2<<'0';
// }
// }
//LOG(INFO)<<"get_symbols="<<ss2.str();
// align symbols in pairs
// and obtain the bits by decoding the symbols (viterbi decoder)
// they can be already aligned or shifted by one position
std::vector<int> bits;
bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(d_sample_buf, bits);
std::stringstream ss;
for (std::vector<int>::const_iterator bit_it = bits.begin(); bit_it < bits.end(); ++bit_it)
{
ss << *bit_it;
}
//std::stringstream ss;
//for (std::vector<int>::const_iterator bit_it = bits.begin(); bit_it < bits.end(); ++bit_it)
// {
// ss << *bit_it;
// }
// LOG(INFO) << "get_bits=" << ss.str() << std::endl;
// search for preambles
// and extract the corresponding message candidates
std::vector<msg_candiate_int_t> msg_candidates;
@ -204,11 +177,15 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
if (d_flag_invert_buffer_symbols == d_flag_invert_input_symbols)
{
d_flag_invert_buffer_symbols = not d_flag_invert_buffer_symbols;
}else{//already tested the symbol inversion but CRC still fail
}
else
{//already tested the symbol inversion but CRC still fail
LOG(INFO) << "Discarting this buffer, no CNAV frames detected CH " << this->d_channel;
break;
}
}else{ //at least one frame has good CRC, keep the invert sign for the next frames
}
else
{ //at least one frame has good CRC, keep the invert sign for the next frames
d_flag_invert_input_symbols = d_flag_invert_buffer_symbols;
std::vector<int> tmp_msg;
std::string msg;
@ -250,7 +227,6 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
//1. Copy the current tracking output
current_synchro_data = in[0];
if (d_flag_valid_word == true)
{
double Prn_timestamp_at_preamble_ms = 0;
@ -267,7 +243,9 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
current_synchro_data.Flag_preamble = false;
current_synchro_data.Prn_timestamp_ms = in[0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
}else{
}
else
{
d_TOW_at_current_symbol = d_TOW_at_Preamble + (d_block_size - last_frame_preamble_start) * GPS_L2_M_PERIOD;
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
@ -277,7 +255,9 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
}
current_synchro_data.Flag_valid_word = true;
}else{
}
else
{
current_synchro_data.Flag_valid_word = false;
}
@ -448,12 +428,12 @@ void gps_l2_m_telemetry_decoder_cc::frame_detector::get_frame_candidates(const s
// ### helper class for checking the CRC of the message candidates ###
void gps_l2_m_telemetry_decoder_cc::crc_verifier::reset()
{
}
void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_int_t> &valid_msgs)
{
std::vector <unsigned char> tmp_msg;
@ -481,11 +461,9 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::ve
void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes)
{
std::stringstream ss;
//std::stringstream ss;
const size_t bits_per_byte = 8;
unsigned char byte = 0;
//LOG(INFO) << "zerropad_back_and_convert_to_bytes():" << byte;
@ -494,7 +472,7 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_b
int idx_bit = candidate_bit_it - msg_candidate.begin();
int bit_pos_in_current_byte = (bits_per_byte - 1) - (idx_bit % bits_per_byte);
byte |= (unsigned char)(*candidate_bit_it) << bit_pos_in_current_byte;
ss << *candidate_bit_it;
// ss << *candidate_bit_it;
if (idx_bit % bits_per_byte == bits_per_byte - 1)
{
bytes.push_back(byte);
@ -512,7 +490,7 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_b
void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes)
{
std::stringstream ss;
//std::stringstream ss;
const size_t bits_per_byte = 8;
unsigned char byte = 0;
int idx_bit = 6; // insert 6 zeros at the front to fit the 250bits into a multiple of bytes
@ -521,7 +499,7 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_
{
int bit_pos_in_current_byte = (bits_per_byte - 1) - (idx_bit % bits_per_byte);
byte |= (unsigned char)(*candidate_bit_it) << bit_pos_in_current_byte;
ss << *candidate_bit_it;
// ss << *candidate_bit_it;
if (idx_bit % bits_per_byte == bits_per_byte - 1)
{
bytes.push_back(byte);
@ -536,11 +514,13 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_
// << std::setfill(' ') << std::resetiosflags(std::ios::hex);
}
void gps_l2_m_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Gps_CNAV_Iono> *iono_queue)
{
d_iono_queue = iono_queue;
}
void gps_l2_m_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Gps_CNAV_Ephemeris> *ephemeris_queue)
{
d_ephemeris_queue = ephemeris_queue;

3
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h
View File

@ -70,7 +70,9 @@ public:
// queues to communicate broadcasted CNAV data to other blocks of GNSS-SDR
void set_iono_queue(concurrent_queue<Gps_CNAV_Iono> *iono_queue); //!< Set iono queue
void set_ephemeris_queue(concurrent_queue<Gps_CNAV_Ephemeris> *ephemeris_queue); //!< Set ephemeris queue
void set_decimation(int decimation);
/*!
* \brief This is where all signal processing takes place
*/
@ -158,7 +160,6 @@ private:
void zerropad_back_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes);
} d_crc_verifier;
Gps_CNAV_Navigation_Message d_CNAV_Message;
};

2
src/core/system_parameters/GPS_L2C.h
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@ -36,7 +36,7 @@
#include <complex>
#include <vector>
#include <utility> // std::pair
#include <gnss_satellite.h>
#include "gnss_satellite.h"
#include "MATH_CONSTANTS.h"
// Physical constants

38
src/core/system_parameters/gps_cnav_navigation_message.cc
View File

@ -57,6 +57,7 @@ void Gps_CNAV_Navigation_Message::reset()
d_satvel_Z = 0;
}
Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
{
reset();
@ -68,6 +69,7 @@ Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
b_flag_iono_valid = false;
}
void Gps_CNAV_Navigation_Message::print_gps_word_bytes(unsigned int GPS_word)
{
std::cout << " Word =";
@ -75,6 +77,7 @@ void Gps_CNAV_Navigation_Message::print_gps_word_bytes(unsigned int GPS_word)
std::cout << std::endl;
}
bool Gps_CNAV_Navigation_Message::read_navigation_bool(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter)
{
bool value;
@ -174,26 +177,16 @@ void Gps_CNAV_Navigation_Message::decode_page(std::vector<int> data)
{
std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> data_bits;
try {
// std::cout<<"data length="<<data.size()<<std::endl;
// std::cout<<"data=";
// for (int p=0;p<data.size();p++)
// {
// std::cout<<data.at(p)<<",";
// }
// std::cout<<std::endl;
try
{
for(int i = 0; i < GPS_L2_CNAV_DATA_PAGE_BITS; i++)
{
//std::cout<<"byte["<<i<<"]="<<(int)data[i]<<std::endl;
data_bits[i]=(uint8_t)data[GPS_L2_CNAV_DATA_PAGE_BITS-i-1];
data_bits[i] = static_cast<uint8_t>(data[GPS_L2_CNAV_DATA_PAGE_BITS - i - 1]);
}
}
//std::cout<<"bitset="<<data_bits<<std::endl;
// try {
// data_bits=std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS>(data);
} catch(std::exception &e) {
catch(std::exception &e)
{
std::cout << "Exception converting to bitset " << e.what() << std::endl;
return;
}
@ -319,6 +312,8 @@ void Gps_CNAV_Navigation_Message::decode_page(std::vector<int> data)
break;
}
}
bool Gps_CNAV_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
{
if (b_flag_ephemeris_1 == true and b_flag_ephemeris_2 == true)
@ -330,10 +325,13 @@ bool Gps_CNAV_Navigation_Message::have_new_ephemeris() //Check if we have a new
b_flag_ephemeris_1 = false;// clear the flag
b_flag_ephemeris_2 = false;// clear the flag
return true;
}else{
}
else
{
return false;
}
}else
}
else
{
return false;
}
@ -352,12 +350,14 @@ bool Gps_CNAV_Navigation_Message::have_new_iono() //Check if we have a new iono
{
b_flag_iono_valid = false;// clear the flag
return true;
}else
}
else
{
return false;
}
}
Gps_CNAV_Iono Gps_CNAV_Navigation_Message::get_iono()
{
return iono_record;

9
src/core/system_parameters/gps_cnav_navigation_message.h
View File

@ -1,6 +1,6 @@
/*!
* \file Gps_CNAV_Navigation_Message.h
* \brief Interface of a GPS NAV Data message decoder
* \file gps_cnav_navigation_message.h
* \brief Interface of a GPS CNAV Data message decoder
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
@ -32,16 +32,16 @@
#ifndef GNSS_SDR_Gps_CNAV_Navigation_Message_H_
#define GNSS_SDR_Gps_CNAV_Navigation_Message_H_
#include "stdint.h"
#include <algorithm>
#include <bitset>
#include "stdint.h"
#include <cmath>
#include <iostream>
#include <map>
#include <string>
#include <vector>
#include <utility>
#include "boost/assign.hpp"
#include <boost/assign.hpp>
#include "GPS_L2C.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
@ -69,7 +69,6 @@ private:
Gps_CNAV_Utc_Model utc_model_record;
public:
double d_TOW;
bool b_flag_ephemeris_1;
bool b_flag_ephemeris_2;