mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-15 12:40:35 +00:00
Code Issues Releases Wiki Activity

Modify sample counter

Browse Source
This commit is contained in:
Antonio Ramos 2018-02-13 18:16:03 +01:00
parent 057d19d98e
commit 8885333aa7
8 changed files with 287 additions and 264 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
src/algorithms/libs/gnss_sdr_sample_counter.cc
View File

@ -33,39 +33,38 @@
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
gnss_sdr_sample_counter::gnss_sdr_sample_counter () : gr::sync_block("sample_counter",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(0,0,0))
gnss_sdr_sample_counter::gnss_sdr_sample_counter (double _fs) : gr::sync_decimator("sample_counter",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), floor(_fs*0.001))
{
this->message_port_register_out(pmt::mp("sample_counter"));
last_T_rx_s = 0;
report_interval_s = 1;//default reporting 1 second
current_T_rx_ms = 0;
report_interval_ms = 1000;//default reporting 1 second
flag_enable_send_msg = false; //enable it for reporting time with asynchronous message
}
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter ()
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter (double _fs)
{
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter());
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs));
return sample_counter_;
}
int gnss_sdr_sample_counter::work (int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
int gnss_sdr_sample_counter::work (int noutput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)),
gr_vector_void_star &output_items)
{
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // input
double current_T_rx_s = in[noutput_items - 1].Tracking_sample_counter / static_cast<double>(in[noutput_items - 1].fs);
if ((current_T_rx_s - last_T_rx_s) > report_interval_s)
Gnss_Synchro* out = reinterpret_cast<Gnss_Synchro*>(output_items[0]);
out[0] = Gnss_Synchro();
if ((current_T_rx_ms % report_interval_ms) == 0)
{
std::cout << "Current receiver time: " << floor(current_T_rx_s) << " [s]" << std::endl;
std::cout << "Current receiver time: " << static_cast<double>(current_T_rx_ms) / 1000.0 << " [s]" << std::endl;
if(flag_enable_send_msg == true)
{
this->message_port_pub(pmt::mp("receiver_time"), pmt::from_double(current_T_rx_s));
this->message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
last_T_rx_s = current_T_rx_s;
}
return noutput_items;
current_T_rx_ms++;
return 1;
}

14
src/algorithms/libs/gnss_sdr_sample_counter.h
View File

@ -31,7 +31,7 @@
#ifndef GNSS_SDR_sample_counter_H_
#define GNSS_SDR_sample_counter_H_
#include <gnuradio/sync_block.h>
#include <gnuradio/sync_decimator.h>
#include <boost/shared_ptr.hpp>
@ -39,14 +39,14 @@ class gnss_sdr_sample_counter;
typedef boost::shared_ptr<gnss_sdr_sample_counter> gnss_sdr_sample_counter_sptr;
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter ();
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter (double _fs);
class gnss_sdr_sample_counter : public gr::sync_block
class gnss_sdr_sample_counter : public gr::sync_decimator
{
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter();
gnss_sdr_sample_counter ();
double last_T_rx_s;
double report_interval_s;
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs);
gnss_sdr_sample_counter (double _fs);
long long int current_T_rx_ms;
int report_interval_ms;
bool flag_enable_send_msg;
public:

4
src/algorithms/observables/adapters/hybrid_observables.cc
View File

@ -57,10 +57,10 @@ HybridObservables::HybridObservables(ConfigurationInterface* configuration,
}
else
{
default_depth = 500;
default_depth = 100;
}
unsigned int history_deep = configuration->property(role + ".history_depth", default_depth);
observables_ = hybrid_make_observables_cc(in_streams_, dump_, dump_filename_, history_deep);
observables_ = hybrid_make_observables_cc(in_streams_, out_streams_, dump_, dump_filename_, history_deep);
DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
}

43
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -47,19 +47,19 @@
using google::LogMessage;
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history)
hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename, unsigned int deep_history)
{
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, dump, dump_filename, deep_history));
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels_in, nchannels_out, dump, dump_filename, deep_history));
}
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
d_nchannels = nchannels_out;
d_dump_filename = dump_filename;
history_deep = deep_history;
T_rx_s = 0.0;
@ -328,21 +328,13 @@ bool Hybrid_valueCompare_gnss_synchro_d_TOW(const Gnss_Synchro& a, double b)
void hybrid_observables_cc::forecast (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
bool zero_samples = true;
for(unsigned int i = 0; i < d_nchannels; i++)
{
int items = detail()->input(i)->items_available();
if (items > 0) zero_samples = false;
ninput_items_required[i] = items; // set the required available samples in each call
}
if (zero_samples == true)
{
for(unsigned int i = 0; i < d_nchannels; i++)
{
ninput_items_required[i] = 1; // set the required available samples in each call
}
ninput_items_required[i] = 0;
//std::cout << "IN buffer "<< i << ". Number of items " << detail()->input(i)->items_available() << std::endl;
}
//std::cout << "SC buffer. Number of items " << detail()->input(d_nchannels)->items_available() << std::endl;
ninput_items_required[d_nchannels] = 1; // set the required available samples in each call
}
@ -383,7 +375,7 @@ int hybrid_observables_cc::general_work (int noutput_items ,
channel_history_ok = true;
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history_queue[i].size() < history_deep)
if (d_gnss_synchro_history_queue[i].size() < history_deep && !d_gnss_synchro_history_queue[i].empty())
{
channel_history_ok = false;
}
@ -399,10 +391,15 @@ int hybrid_observables_cc::general_work (int noutput_items ,
// 0. Read a gnss_synchro snapshot from the queue and store it in a map
std::map<int,Gnss_Synchro> gnss_synchro_map;
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (!d_gnss_synchro_history_queue[i].empty())
{
gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID,
d_gnss_synchro_history_queue[i].front()));
}
}
if (gnss_synchro_map.empty()) break;
gnss_synchro_map_iter = min_element(gnss_synchro_map.cbegin(),
gnss_synchro_map.cend(),
Hybrid_pairCompare_gnss_synchro_sample_counter);
@ -416,6 +413,8 @@ int hybrid_observables_cc::general_work (int noutput_items ,
std::map<int,Gnss_Synchro> adjacent_gnss_synchro_map; // container for the previous observable values to interpolate
// shift channels history to match the reference TOW
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (!d_gnss_synchro_history_queue[i].empty())
{
gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].cbegin(),
d_gnss_synchro_history_queue[i].cend(),
@ -464,6 +463,7 @@ int hybrid_observables_cc::general_work (int noutput_items ,
}
}
}
}
if(!realigned_gnss_synchro_map.empty())
{
@ -578,6 +578,8 @@ int hybrid_observables_cc::general_work (int noutput_items ,
T_rx_s = T_rx_s + T_rx_step_s;
// pop old elements from queue
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (!d_gnss_synchro_history_queue[i].empty())
{
while (static_cast<double>(d_gnss_synchro_history_queue[i].front().Tracking_sample_counter) / static_cast<double>(d_gnss_synchro_history_queue[i].front().fs) < (T_rx_s - past_history_s))
{
@ -585,6 +587,7 @@ int hybrid_observables_cc::general_work (int noutput_items ,
}
}
}
}
} while(channel_history_ok == true && noutput_items > n_outputs);
// Multi-rate consume!
@ -593,6 +596,8 @@ int hybrid_observables_cc::general_work (int noutput_items ,
consume(i, n_consume[i]); // which input, how many items
}
//consume monitor channel always
consume(d_nchannels, 1);
return n_outputs;
}

6
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -44,7 +44,7 @@ class hybrid_observables_cc;
typedef boost::shared_ptr<hybrid_observables_cc> hybrid_observables_cc_sptr;
hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int n_channels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename, unsigned int deep_history);
/*!
* \brief This class implements a block that computes Galileo observables
@ -58,8 +58,8 @@ public:
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename, unsigned int deep_history);
//Tracking observable history
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history_queue;

10
src/core/receiver/gnss_block_factory.cc
View File

@ -248,7 +248,15 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(std::shared
GPS_channels += configuration->property("Channels_2S.count", 0);
GPS_channels += configuration->property("Channels_L5.count", 0);
unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
return GetBlock(configuration, "Observables", implementation, Galileo_channels + GPS_channels + Glonass_channels, Galileo_channels + GPS_channels + Glonass_channels);
unsigned int extra_channels = 1; // For monitor channel sample counter
return GetBlock(configuration, "Observables", implementation,
Galileo_channels +
GPS_channels +
Glonass_channels +
extra_channels,
Galileo_channels +
GPS_channels +
Glonass_channels);
}

25
src/core/receiver/gnss_flowgraph.cc
View File

@ -248,6 +248,24 @@ void GNSSFlowgraph::connect()
}
DLOG(INFO) << "Signal source connected to signal conditioner";
//connect the signal source to sample counter
//connect the sample counter to Observables
try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs);
top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception & e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++)
@ -296,13 +314,6 @@ void GNSSFlowgraph::connect()
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
//connect the sample counter to the channel 0
if (i == 0)
{
ch_out_sample_counter = gnss_sdr_make_sample_counter();
top_block_->connect(channels_.at(i)->get_right_block(), 0, ch_out_sample_counter, 0);
}
}
/*

2
src/core/system_parameters/GPS_L1_CA.h
View File

@ -74,7 +74,7 @@ const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int GPS_L1_CA_HISTORY_DEEP = 500;
const int GPS_L1_CA_HISTORY_DEEP = 100;
// NAVIGATION MESSAGE DEMODULATION AND DECODING