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Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

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Carles Fernandez 2019-07-28 14:00:20 +02:00
commit 9094f4b4f5
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GPG Key ID: 4C583C52B0C3877D
76 changed files with 513 additions and 494 deletions
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24
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -121,7 +121,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int rtcm_MT1077_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
int rtcm_MT1087_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
int rtcm_MT1097_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
//std::map<int, int> rtcm_msg_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
@ -409,7 +409,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
if (positioning_mode == -1)
{
//warn user and set the default
// warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
@ -439,14 +439,14 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
{
//warn user and set the default
// warn user and set the default
number_of_frequencies = num_bands;
}
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
{
//warn user and set the default
// warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
elevation_mask = 15.0;
}
@ -454,7 +454,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if ((dynamics_model < 0) || (dynamics_model > 2))
{
//warn user and set the default
// warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
dynamics_model = 0;
}
@ -488,7 +488,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
}
if (iono_model == -1)
{
//warn user and set the default
// warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
std::cout << "iono_model specified value: " << iono_model_str << std::endl;
@ -521,7 +521,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
}
if (trop_model == -1)
{
//warn user and set the default
// warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
std::cout << "trop_model specified value: " << trop_model_str << std::endl;
@ -568,7 +568,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{
//warn user and set the default
// warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
navigation_system = nsys;
}
@ -599,7 +599,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
}
if (integer_ambiguity_resolution_gps == -1)
{
//warn user and set the default
// warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
@ -610,7 +610,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
{
//warn user and set the default
// warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
integer_ambiguity_resolution_glo = 1;
}
@ -618,7 +618,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
{
//warn user and set the default
// warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
integer_ambiguity_resolution_bds = 1;
}
@ -644,7 +644,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
If the baseline length is very short like 1 m, the iteration may be effective to handle
the nonlinearity of measurement equation. */
/// Statistics
// Statistics
double bias_0 = configuration->property(role + ".bias_0", 30.0);
double iono_0 = configuration->property(role + ".iono_0", 0.03);

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

@ -41,7 +41,7 @@
#include <sstream>
#include <string>
#include <sys/stat.h> // for S_IXUSR | S_IRWXG | S_IRWXO
#include <sys/types.h> //for mode_t
#include <sys/types.h> // for mode_t
#if HAS_STD_FILESYSTEM
#include <system_error>

6
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -175,9 +175,9 @@ int Nmea_Printer::init_serial(const std::string& serial_device)
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
*/
int fd = 0;
struct termios options
{
};
// clang-format off
struct termios options{};
// clang-format on
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;

266
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -627,7 +627,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
} // Avoid compiler warning
std::string line;
stringVersion = "3.02";
version = 3;
@ -772,7 +772,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
} // Avoid compiler warning
std::string line;
stringVersion = "3.02";
version = 3;
@ -896,8 +896,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
//Avoid compiler warning, there is not time system correction between Galileo and GLONASS
} // Avoid compiler warning
// Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if (galileo_utc_model.A_0G_10)
{
}
@ -1379,7 +1379,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
{
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
//! \todo Add here other systems...
//todo Add here other systems...
line += std::string("G: GPS");
line += std::string(14, ' ');
// ...
@ -1744,7 +1744,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
{
line += std::string("N: GNSS NAV DATA");
line += std::string(4, ' ');
//! \todo Add here other systems...
//todo: Add here other systems...
line += std::string("F: BDS");
line += std::string(14, ' ');
// ...
@ -2495,7 +2495,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
} // Avoid compiler warning
std::vector<std::string> data;
std::string line_aux;
@ -3191,7 +3191,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_Iono& gps_ion
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
} // Avoid compiler warning
std::vector<std::string> data;
std::string line_aux;
@ -3306,7 +3306,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gp
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
} // Avoid compiler warning
std::vector<std::string> data;
std::string line_aux;
@ -3414,8 +3414,8 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
{
if (glonass_gnav_almanac.i_satellite_freq_channel)
{
} //Avoid compiler warning
//Avoid compiler warning, there is not time system correction between Galileo and GLONASS
} // Avoid compiler warning
// Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if (galileo_utc_model.A_0G_10)
{
}
@ -4270,7 +4270,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gal
// -------- BROADCAST ORBIT - 6
line.clear();
line += std::string(5, ' ');
//line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.SISA_3, 18, 2);
// line += Rinex_Printer::doub2for(galileo_ephemeris_iter->second.SISA_3, 18, 2);
line += Rinex_Printer::doub2for(zero, 18, 2); // *************** CHANGE THIS WHEN GALILEO SIGNAL IS VALID
line += std::string(1, ' ');
std::string E1B_HS;
@ -4745,7 +4745,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
{
if (eph.d_m)
{
} //Avoid compiler warning
} // Avoid compiler warning
std::string line;
std::map<int32_t, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
@ -4855,7 +4855,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -5181,7 +5181,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -5536,7 +5536,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -5845,7 +5845,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -6138,12 +6138,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -6168,7 +6168,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -6395,12 +6395,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -6425,7 +6425,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -6646,12 +6646,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("GROUND_CRAFT", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -6676,7 +6676,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -6927,12 +6927,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -6957,7 +6957,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -7273,12 +7273,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -7303,7 +7303,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -7591,12 +7591,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -7621,7 +7621,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -7858,12 +7858,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
out << line << std::endl;
// -------- Line MARKER TYPE
//line.clear();
//line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
//line += std::string(40, ' ');
//line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
//Rinex_Printer::lengthCheck(line);
//out << line << std::endl;
// line.clear();
// line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
// line += std::string(40, ' ');
// line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
// Rinex_Printer::lengthCheck(line);
// out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
@ -7888,7 +7888,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -8170,7 +8170,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Epheme
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20); // add flag and property
line += Rinex_Printer::leftJustify("Software Receiver", 20); // add flag and property
//line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
// line += Rinex_Printer::leftJustify(google::VersionString(), 20); // add flag and property
if (gnss_sdr_version.length() > 20)
{
gnss_sdr_version.resize(9, ' ');
@ -8599,8 +8599,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
boost::posix_time::ptime p_glonass_time = Rinex_Printer::compute_UTC_time(eph, obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
// double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
// double gps_t = eph.sv_clock_correction(obs_time);
std::string month(timestring, 4, 2);
std::string day(timestring, 6, 2);
@ -8647,7 +8647,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@ -8669,7 +8669,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
}
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -8685,13 +8685,13 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@ -8705,7 +8705,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
@ -8716,12 +8716,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{
lineObs += std::string(1, ' ');
}
//else
// else
// {
// lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
// }
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GLONASS L1 SIGNAL STRENGTH
// GLONASS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80)
{
@ -8757,7 +8757,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@ -8769,7 +8769,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -8787,10 +8787,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
lineObs += std::string(1, '0');
}
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
//lineObs += std::string(2, ' ');
// lineObs += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -8830,7 +8830,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
//GLONASS L1 SIGNAL STRENGTH
// GLONASS L1 SIGNAL STRENGTH
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.CN0_dB_hz, 3), 14);
if (lineObs.size() < 80)
@ -8931,8 +8931,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
line += std::string(1, '0');
}
//Number of satellites observed in current epoch
//Get maps with observations
// Number of satellites observed in current epoch
// Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG1C;
std::map<int32_t, Gnss_Synchro> observablesR1C;
std::map<int32_t, Gnss_Synchro> observablesR2C;
@ -9065,7 +9065,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// Pseudorange Measurements
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9136,7 +9136,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
//double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9232,8 +9232,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
//Get maps with observations
// Number of satellites observed in current epoch
// Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG2S;
std::map<int32_t, Gnss_Synchro> observablesR1C;
std::map<int32_t, Gnss_Synchro> observablesR2C;
@ -9325,7 +9325,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
// Pseudorange Measurements
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9394,7 +9394,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
//double leap_seconds = Rinex_Printer::get_leap_second(glonass_gnav_eph, gps_obs_time);
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9489,9 +9489,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with observations
// Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesR1C;
std::map<int32_t, Gnss_Synchro> observablesR2C;
@ -9551,7 +9551,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -9581,7 +9581,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9647,7 +9647,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9755,7 +9755,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@ -9777,7 +9777,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
}
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -9793,7 +9793,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9866,7 +9866,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@ -9878,7 +9878,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -9896,10 +9896,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
lineObs += std::string(1, '0');
}
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
//lineObs += std::string(2, ' ');
// lineObs += std::string(2, ' ');
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -9993,7 +9993,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
int32_t numSatellitesObserved = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@ -10005,7 +10005,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -10023,11 +10023,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
lineObs += std::string(1, '0');
}
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
//lineObs += std::string(2, ' ');
// lineObs += std::string(2, ' ');
//GPS L2 PSEUDORANGE
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -10123,9 +10123,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with GPS L1 and L2 observations
// Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro> observablesL5;
@ -10229,7 +10229,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -10252,7 +10252,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -10346,9 +10346,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with Galileo observations
// Get maps with Galileo observations
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A;
std::map<int32_t, Gnss_Synchro> observablesE5B;
@ -10475,7 +10475,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -10498,7 +10498,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -10593,9 +10593,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with observations
// Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG1C;
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A;
@ -10674,7 +10674,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -10704,7 +10704,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
lineObs += std::to_string(static_cast<int32_t>(observables_iter->second.PRN));
lineObs += Rinex_Printer::rightJustify(asString(observables_iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -10770,7 +10770,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -10865,9 +10865,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with observations
// Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG2S;
std::map<int32_t, Gnss_Synchro> observablesGL5;
std::map<int32_t, Gnss_Synchro> observablesE1B;
@ -10979,7 +10979,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -11005,7 +11005,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -11067,7 +11067,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -11162,9 +11162,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with observations
// Get maps with observations
std::map<int32_t, Gnss_Synchro> observablesG2S;
std::map<int32_t, Gnss_Synchro> observablesGL5;
std::map<int32_t, Gnss_Synchro> observablesG1C;
@ -11294,7 +11294,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
@ -11320,7 +11320,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -11382,7 +11382,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -11471,9 +11471,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
//Get maps with BeiDou observations
// Get maps with BeiDou observations
std::map<int32_t, Gnss_Synchro> observablesB1I;
std::map<int32_t, Gnss_Synchro> observablesB3I;
@ -11544,7 +11544,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
// line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -11567,7 +11567,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
//Loss of lock indicator (LLI)
// Loss of lock indicator (LLI)
int32_t lli = 0; // Include in the observation!!
if (lli == 0)
{
@ -11771,7 +11771,7 @@ int32_t Rinex_Printer::signalStrength(const double snr)
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Gps_Navigation_Message& nav_msg)
{
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
// idea: resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
const double utc_t = nav_msg.utc_time(nav_msg.d_TOW);
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<int64_t>((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000));
if (nav_msg.i_GPS_week < 512)

46
src/algorithms/PVT/libs/rtcm.cc
View File

@ -498,7 +498,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, co
bool sync_flag = false;
bool divergence_free = false;
//Get a map with GPS L1 only observations
// Get a map with GPS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -547,7 +547,7 @@ std::string Rtcm::print_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, co
bool sync_flag = false;
bool divergence_free = false;
//Get a map with GPS L1 only observations
// Get a map with GPS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -618,7 +618,7 @@ std::string Rtcm::print_MT1003(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
bool sync_flag = false;
bool divergence_free = false;
//Get maps with GPS L1 and L2 observations
// Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -727,7 +727,7 @@ std::string Rtcm::print_MT1004(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
bool sync_flag = false;
bool divergence_free = false;
//Get maps with GPS L1 and L2 observations
// Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1177,7 +1177,7 @@ std::string Rtcm::print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, d
bool sync_flag = false;
bool divergence_free = false;
//Get a map with GLONASS L1 only observations
// Get a map with GLONASS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1226,7 +1226,7 @@ std::string Rtcm::print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, d
bool sync_flag = false;
bool divergence_free = false;
//Get a map with GPS L1 only observations
// Get a map with GPS L1 only observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1301,7 +1301,7 @@ std::string Rtcm::print_MT1011(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
bool sync_flag = false;
bool divergence_free = false;
//Get maps with GPS L1 and L2 observations
// Get maps with GPS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1412,7 +1412,7 @@ std::string Rtcm::print_MT1012(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
bool sync_flag = false;
bool divergence_free = false;
//Get maps with GLONASS L1 and L2 observations
// Get maps with GLONASS L1 and L2 observations
std::map<int32_t, Gnss_Synchro> observablesL1;
std::map<int32_t, Gnss_Synchro> observablesL2;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
@ -1887,13 +1887,13 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
index += 1;
if (glonass_gnav_alm_health)
{
} //Avoid comiler warning
} // Avoid compiler warning
glonass_gnav_alm_health_ind = static_cast<int32_t>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
if (glonass_gnav_alm_health_ind)
{
} //Avoid comiler warning
} // Avoid compiler warning
glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1 + 1) * 15;
@ -2309,7 +2309,7 @@ std::string Rtcm::print_MSM_1(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -2504,7 +2504,7 @@ std::string Rtcm::print_MSM_2(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -2617,7 +2617,7 @@ std::string Rtcm::print_MSM_3(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -2733,7 +2733,7 @@ std::string Rtcm::print_MSM_4(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -2892,7 +2892,7 @@ std::string Rtcm::print_MSM_5(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -3060,7 +3060,7 @@ std::string Rtcm::print_MSM_6(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (gal_eph.i_satellite_PRN != 0) && (glo_gnav_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -3179,7 +3179,7 @@ std::string Rtcm::print_MSM_7(const Gps_Ephemeris& gps_eph,
}
if (((gps_eph.i_satellite_PRN != 0) || (gps_cnav_eph.i_satellite_PRN != 0)) && (glo_gnav_eph.i_satellite_PRN != 0) && (gal_eph.i_satellite_PRN != 0))
{
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; //print two messages?
LOG(WARNING) << "MSM messages for observables from different systems are not defined"; // print two messages?
}
if (msg_number == 0)
{
@ -3709,7 +3709,7 @@ int32_t Rtcm::set_DF002(uint32_t message_number)
int32_t Rtcm::set_DF003(uint32_t ref_station_ID)
{
//uint32_t station_ID = ref_station_ID;
// uint32_t station_ID = ref_station_ID;
if (ref_station_ID > 4095)
{
LOG(WARNING) << "RTCM reference station ID must be between 0 and 4095, but it has been set to " << ref_station_ID;
@ -3745,7 +3745,7 @@ int32_t Rtcm::set_DF005(bool sync_flag)
int32_t Rtcm::set_DF006(const std::map<int32_t, Gnss_Synchro>& observables)
{
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
uint16_t nsats = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@ -4007,7 +4007,7 @@ int32_t Rtcm::set_DF034(double obs_time)
int32_t Rtcm::set_DF035(const std::map<int32_t, Gnss_Synchro>& observables)
{
//Number of satellites observed in current epoch
// Number of satellites observed in current epoch
uint16_t nsats = 0;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.begin();
@ -4258,7 +4258,7 @@ int32_t Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
std::string hours = now_ptime.substr(9, 2);
std::string minutes = now_ptime.substr(11, 2);
std::string seconds = now_ptime.substr(13, 8);
//boost::gregorian::date d(boost::gregorian::from_undelimited_string(today_ptime));
// boost::gregorian::date d(boost::gregorian::from_undelimited_string(today_ptime));
uint32_t seconds_of_day = boost::lexical_cast<uint32_t>(hours) * 60 * 60 + boost::lexical_cast<uint32_t>(minutes) * 60 + boost::lexical_cast<uint32_t>(seconds);
DF052 = std::bitset<17>(seconds_of_day);
return 0;
@ -4866,7 +4866,7 @@ int32_t Rtcm::set_DF290(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF291(const Galileo_Ephemeris& gal_eph)
{
auto SISA = static_cast<uint16_t>(gal_eph.SISA_3);
//SISA = 0; // SIS Accuracy, data content definition not given in Galileo OS SIS ICD, Issue 1.1, Sept 2010
// SISA = 0; // SIS Accuracy, data content definition not given in Galileo OS SIS ICD, Issue 1.1, Sept 2010
DF291 = std::bitset<8>(SISA);
return 0;
}
@ -5047,7 +5047,7 @@ int32_t Rtcm::set_DF312(const Galileo_Ephemeris& gal_eph)
int32_t Rtcm::set_DF313(const Galileo_Ephemeris& gal_eph)
{
auto bdg_E5b_E1 = static_cast<uint32_t>(std::round(gal_eph.BGD_E1E5b_5));
//bdg_E5b_E1 = 0; //reserved
// bdg_E5b_E1 = 0; // reserved
DF313 = std::bitset<10>(bdg_E5b_E1);
return 0;
}

10
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -384,7 +384,9 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
* Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1)
*/
int32_t fd = 0;
// clang-format off
struct termios options{};
// clang-format on
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;
@ -404,7 +406,7 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
tcgetattr(fd, &options); // read serial port options
BAUD = B9600;
//BAUD = B38400;
// BAUD = B38400;
DATABITS = CS8;
STOPBITS = 0;
PARITYON = 0;
@ -412,7 +414,7 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
// enable receiver, set 8 bit data, ignore control lines
//options.c_cflag |= (CLOCAL | CREAD | CS8);
// options.c_cflag |= (CLOCAL | CREAD | CS8);
options.c_iflag = IGNPAR;
// set the new port options
@ -432,7 +434,7 @@ void Rtcm_Printer::close_serial()
bool Rtcm_Printer::Print_Message(const std::string& message)
{
//write to file
// write to file
if (d_rtcm_file_dump)
{
try
@ -446,7 +448,7 @@ bool Rtcm_Printer::Print_Message(const std::string& message)
}
}
//write to serial device
// write to serial device
if (rtcm_dev_descriptor != -1)
{
if (write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1)

21
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -94,7 +94,6 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat;
count_valid_position = 0;
this->set_averaging_flag(false);
rtk_ = rtk;
@ -443,9 +442,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int valid_obs = 0; // valid observations counter
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
std::array<obsd_t, MAXOBS> obs_data{};
std::vector<eph_t> eph_data(MAXOBS);
std::vector<geph_t> geph_data(MAXOBS);
obs_data.fill({});
eph_data.fill({});
geph_data.fill({});
// Workaround for NAV/CNAV clash problem
bool gps_dual_band = false;
@ -719,7 +718,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2)
1); // Band 1 (L2)
found_L1_obs = true;
break;
}
@ -914,7 +913,13 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
/* update carrier wave length using native function call in RTKlib */
uniqnav(&nav_data);
for (int i = 0; i < MAXSAT; i++)
{
for (int j = 0; j < NFREQ; j++)
{
nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data);
}
}
result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
@ -1001,9 +1006,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
<< " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); //Corrected RX Time (Non integer multiply of 1 ms of granularity)
// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); // Corrected RX Time (Non integer multiply of 1 ms of granularity)
// Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX)
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3)); //uncorrected rx time
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time(3)); // uncorrected rx time
gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int)

5
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -126,8 +126,6 @@ public:
Beidou_Dnav_Iono beidou_dnav_iono;
std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
int count_valid_position;
private:
rtk_t rtk_{};
std::string d_dump_filename;
@ -137,6 +135,9 @@ private:
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
std::array<double, 4> dop_{};
std::array<obsd_t, MAXOBS> obs_data{};
std::array<eph_t, MAXOBS> eph_data{};
std::array<geph_t, MAXOBS> geph_data{};
Monitor_Pvt monitor_pvt{};
};

2
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -98,6 +98,7 @@ target_link_libraries(acquisition_adapters
algorithms_libs
gnss_sdr_flags
acquisition_gr_blocks
acquisition_libs
channel_libs
core_system_parameters
Gnuradio::blocks
@ -108,7 +109,6 @@ target_link_libraries(acquisition_adapters
Glog::glog
Gnuradio::fft
Volkgnsssdr::volkgnsssdr
acquisition_libs
)
target_include_directories(acquisition_adapters

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -6,7 +6,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -212,6 +212,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_doppler_step(unsigned int doppler_st
acquisition_->set_doppler_step(doppler_step_);
}
void GalileoE1PcpsAmbiguousAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -396,6 +397,7 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
return acquisition_;
}
void GalileoE1PcpsAmbiguousAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -34,7 +34,6 @@
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
@ -114,15 +113,15 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
// set local signal generator to Galileo E1 pilot component (1C)
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,
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
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,
galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false);
}
@ -213,6 +212,7 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int dopple
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -220,6 +220,7 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_center(int doppler_cente
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;

5
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -186,7 +186,6 @@ signed int GalileoE1PcpsCccwsrAmbiguousAcquisition::mag()
void GalileoE1PcpsCccwsrAmbiguousAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -199,12 +198,12 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
std::array<char, 3> signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_data_.data(), vector_length_), signal,
galileo_e1_code_gen_complex_sampled(code_data_, signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
std::array<char, 3> signal_C = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_pilot_.data(), vector_length_), signal_C,
galileo_e1_code_gen_complex_sampled(code_pilot_, signal_C,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
acquisition_cc_->set_local_code(code_data_.data(), code_pilot_.data());

9
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -209,7 +209,6 @@ signed int GalileoE5aNoncoherentIQAcquisitionCaf::mag()
void GalileoE5aNoncoherentIQAcquisitionCaf::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -223,17 +222,17 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
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,
galileo_e5_a_code_gen_complex_sampled(codeI, a,
gnss_synchro_->PRN, fs_in_, 0);
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,
galileo_e5_a_code_gen_complex_sampled(codeQ, b,
gnss_synchro_->PRN, fs_in_, 0);
}
else
{
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_,
galileo_e5_a_code_gen_complex_sampled(codeI, signal_type_,
gnss_synchro_->PRN, fs_in_, 0);
}
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
@ -277,7 +276,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::reset()
float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
{
//Calculate the threshold
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -85,7 +85,6 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
@ -351,6 +350,7 @@ gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_right_block()
return acquisition_;
}
void GalileoE5aPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

5
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -34,7 +34,6 @@
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
@ -128,7 +127,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
signal_[1] = 'I';
}
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), signal_, PRN, fs_in, 0);
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -216,6 +215,7 @@ void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GalileoE5aPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -223,6 +223,7 @@ void GalileoE5aPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -151,13 +151,12 @@ signed int GpsL1CaPcpsAcquisitionFineDoppler::mag()
void GpsL1CaPcpsAcquisitionFineDoppler::init()
{
acquisition_cc_->init();
//set_local_code();
}
void GpsL1CaPcpsAcquisitionFineDoppler::set_local_code()
{
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code_.data(), vector_length_), gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.data());
}

5
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -36,7 +36,6 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h>
@ -103,7 +102,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// temporary maxima search
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in, 0); // generate PRN code
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -192,6 +191,7 @@ void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL1CaPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -199,6 +199,7 @@ void GpsL1CaPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;

1
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -37,6 +37,7 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <memory>
#include <string>

5
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -143,15 +143,16 @@ signed int GpsL1CaPcpsAssistedAcquisition::mag()
void GpsL1CaPcpsAssistedAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
void GpsL1CaPcpsAssistedAcquisition::set_local_code()
{
gps_l1_ca_code_gen_complex_sampled(gsl::span<gr_complex>(code_.get(), vector_length_), gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.get());
}
void GpsL1CaPcpsAssistedAcquisition::reset()
{
acquisition_cc_->set_active(true);

4
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -198,7 +198,6 @@ signed int GpsL1CaPcpsOpenClAcquisition::mag()
void GpsL1CaPcpsOpenClAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -232,8 +231,7 @@ void GpsL1CaPcpsOpenClAcquisition::reset()
float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -68,7 +68,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
//--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/*Calculate the folding factor value based on the calculations*/
/* Calculate the folding factor value based on the calculations */
auto temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", temp);
@ -106,7 +106,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
int samples_per_ms = round(code_length_);
code_ = std::vector<std::complex<float>>(code_length_);
/*Object relevant information for debugging*/
/* Object relevant information for debugging */
LOG(INFO) << "Implementation: " << this->implementation()
<< ", Vector Length: " << vector_length_
<< ", Samples per ms: " << samples_per_ms
@ -224,7 +224,6 @@ signed int GpsL1CaPcpsQuickSyncAcquisition::mag()
void GpsL1CaPcpsQuickSyncAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -267,7 +266,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_state(int state)
float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -186,7 +186,6 @@ signed int GpsL1CaPcpsTongAcquisition::mag()
void GpsL1CaPcpsTongAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -229,7 +228,7 @@ void GpsL1CaPcpsTongAcquisition::set_state(int state)
float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{

7
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -211,6 +211,7 @@ void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_);
}
void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -218,6 +219,7 @@ void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center)
acquisition_->set_doppler_center(doppler_center_);
}
void GpsL2MPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
@ -235,7 +237,6 @@ signed int GpsL2MPcpsAcquisition::mag()
void GpsL2MPcpsAcquisition::init()
{
acquisition_->init();
//set_local_code();
}
@ -276,7 +277,7 @@ void GpsL2MPcpsAcquisition::set_state(int state)
float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{

3
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -105,7 +105,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in_);
gps_l2c_m_code_gen_complex_sampled(code, PRN, fs_in_);
// fill in zero padding
for (unsigned int s = code_length; s < nsamples_total; s++)
{
@ -204,7 +204,6 @@ signed int GpsL2MPcpsAcquisitionFpga::mag()
void GpsL2MPcpsAcquisitionFpga::init()
{
acquisition_fpga_->init();
//set_local_code();
}

4
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -206,6 +206,7 @@ void GpsL5iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_);
}
void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -213,6 +214,7 @@ void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center)
acquisition_->set_doppler_center(doppler_center_);
}
void GpsL5iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
@ -270,7 +272,7 @@ void GpsL5iPcpsAcquisition::set_state(int state)
float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{

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

@ -36,7 +36,6 @@
#include "GPS_L5.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l5_signal.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
@ -107,7 +106,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l5i_code_gen_complex_sampled(gsl::span<gr_complex>(code.data(), nsamples_total), PRN, fs_in);
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -196,6 +195,7 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL5iPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
@ -203,6 +203,7 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
@ -221,6 +222,7 @@ void GpsL5iPcpsAcquisitionFpga::init()
acquisition_fpga_->init();
}
void GpsL5iPcpsAcquisitionFpga::set_local_code()
{
acquisition_fpga_->set_local_code();

1
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -36,6 +36,7 @@
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <memory>
#include <string>

2
src/algorithms/channel/adapters/channel.cc
View File

@ -236,6 +236,8 @@ void Channel::assist_acquisition_doppler(double Carrier_Doppler_hz)
{
acq_->set_doppler_center(static_cast<int>(Carrier_Doppler_hz));
}
void Channel::start_acquisition()
{
std::lock_guard<std::mutex> lk(mx);

15
src/algorithms/libs/beidou_b1i_signal_processing.cc
View File

@ -152,10 +152,10 @@ void beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, u
const int32_t _codeFreqBasis = 2046000; // Hz
const int32_t _codeLength = 2046;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
// --- 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
@ -163,28 +163,27 @@ void beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, u
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read C/A code values -------------------------
// --- Make index array to read C/A code values --------------------
// The length of the index array depends on the sampling frequency -
// number of samples per millisecond (because one C/A code period is one
// millisecond).
// _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
aux = (_ts * (i + 1)) / _tc;
_codeValueIndex = auxCeil(aux) - 1;
//--- Make the digitized version of the C/A code -----------------------
// --- Make the digitized version of the C/A code ------------------
// The "upsampled" code is made by selecting values form the CA code
// chip array (caCode) for the time instances of each sample.
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = _code[_codeLength - 1];
}
else
{
_dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
_dest[i] = _code[_codeValueIndex]; // repeat the chip -> upsample
}
}
}

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

@ -214,19 +214,19 @@ void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, u
const int32_t _codeFreqBasis = 10230000; // Hz
const int32_t _codeLength = 10230;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
// --- 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
beidou_b3i_code_gen_complex(_code, _prn, _chip_shift); // generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read C/A code values -------------------------
// --- Make index array to read C/A code values --------------------
// The length of the index array depends on the sampling frequency -
// number of samples per millisecond (because one C/A code period is one
// millisecond).
@ -234,12 +234,12 @@ void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, u
aux = (_ts * (i + 1)) / _tc;
_codeValueIndex = auxCeil(aux) - 1;
//--- Make the digitized version of the C/A code -----------------------
// --- Make the digitized version of the C/A code ------------------
// The "upsampled" code is made by selecting values form the CA code
// chip array (caCode) for the time instances of each sample.
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = _code[_codeLength - 1];
}
else

12
src/algorithms/libs/glonass_l1_signal_processing.cc
View File

@ -112,10 +112,10 @@ void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest
const int32_t _codeFreqBasis = 511000; // Hz
const int32_t _codeLength = 511;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
// --- 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
@ -123,9 +123,9 @@ void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read C/A code values -------------------------
// --- Make index array to read C/A code values --------------------
// The length of the index array depends on the sampling frequency -
// number of samples per millisecond (because one C/A code period is one
// millisecond).
@ -133,12 +133,12 @@ void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest
aux = (_ts * (i + 1)) / _tc;
_codeValueIndex = auxCeil(aux) - 1;
//--- Make the digitized version of the C/A code -----------------------
// --- Make the digitized version of the C/A code ------------------
// The "upsampled" code is made by selecting values form the CA code
// chip array (caCode) for the time instances of each sample.
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = _code[_codeLength - 1];
}
else

12
src/algorithms/libs/glonass_l2_signal_processing.cc
View File

@ -112,10 +112,10 @@ void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest
const int32_t _codeFreqBasis = 511000; // Hz
const int32_t _codeLength = 511;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
// --- 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
@ -123,9 +123,9 @@ void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read C/A code values -------------------------
// --- Make index array to read C/A code values --------------------
// The length of the index array depends on the sampling frequency -
// number of samples per millisecond (because one C/A code period is one
// millisecond).
@ -133,12 +133,12 @@ void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest
aux = (_ts * (i + 1)) / _tc;
_codeValueIndex = auxCeil(aux) - 1;
//--- Make the digitized version of the C/A code -----------------------
// --- Make the digitized version of the C/A code ------------------
// The "upsampled" code is made by selecting values form the CA code
// chip array (caCode) for the time instances of each sample.
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = _code[_codeLength - 1];
}
else

30
src/algorithms/libs/gnss_circular_deque.h
View File

@ -41,17 +41,17 @@ template <class T>
class Gnss_circular_deque
{
public:
Gnss_circular_deque(); // Default constructor
Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann); // nchann = number of channels; max_size = channel capacity
unsigned int size(const unsigned int ch); // Returns the number of available elements in a channel
T& at(const unsigned int ch, const unsigned int pos); // Returns a reference to an element
T& front(const unsigned int ch); // Returns a reference to the first element in the deque
T& back(const unsigned int ch); // Returns a reference to the last element in the deque
void push_back(const unsigned int ch, const T& new_data); // Inserts an element at the end of the deque
void pop_front(const unsigned int ch); // Removes the first element of the deque
void clear(const unsigned int ch); // Removes all the elements of the deque (Sets size to 0). Capacity is not modified
void reset(const unsigned int max_size, const unsigned int nchann); // Removes all the elements in all the channels. Re-sets the number of channels and their capacity
void reset(); // Removes all the channels (Sets nchann to 0)
Gnss_circular_deque(); //!< Default constructor
Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann); //!< nchann = number of channels; max_size = channel capacity
unsigned int size(const unsigned int ch); //!< Returns the number of available elements in a channel
T& at(const unsigned int ch, const unsigned int pos); //!< Returns a reference to an element
T& front(const unsigned int ch); //!< Returns a reference to the first element in the deque
T& back(const unsigned int ch); //!< Returns a reference to the last element in the deque
void push_back(const unsigned int ch, const T& new_data); //!< Inserts an element at the end of the deque
void pop_front(const unsigned int ch); //!< Removes the first element of the deque
void clear(const unsigned int ch); //!< Removes all the elements of the deque (Sets size to 0). Capacity is not modified
void reset(const unsigned int max_size, const unsigned int nchann); //!< Removes all the elements in all the channels. Re-sets the number of channels and their capacity
void reset(); //!< Removes all the channels (Sets nchann to 0)
private:
std::vector<boost::circular_buffer<T>> d_data;
@ -64,18 +64,21 @@ Gnss_circular_deque<T>::Gnss_circular_deque()
reset();
}
template <class T>
Gnss_circular_deque<T>::Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann)
{
reset(max_size, nchann);
}
template <class T>
unsigned int Gnss_circular_deque<T>::size(const unsigned int ch)
{
return d_data.at(ch).size();
}
template <class T>
T& Gnss_circular_deque<T>::back(const unsigned int ch)
{
@ -96,12 +99,14 @@ T& Gnss_circular_deque<T>::at(const unsigned int ch, const unsigned int pos)
return d_data.at(ch).at(pos);
}
template <class T>
void Gnss_circular_deque<T>::clear(const unsigned int ch)
{
d_data.at(ch).clear();
}
template <class T>
void Gnss_circular_deque<T>::reset(const unsigned int max_size, const unsigned int nchann)
{
@ -115,18 +120,21 @@ void Gnss_circular_deque<T>::reset(const unsigned int max_size, const unsigned i
}
}
template <class T>
void Gnss_circular_deque<T>::reset()
{
d_data.clear();
}
template <class T>
void Gnss_circular_deque<T>::pop_front(const unsigned int ch)
{
d_data.at(ch).pop_front();
}
template <class T>
void Gnss_circular_deque<T>::push_back(const unsigned int ch, const T& new_data)
{

16
src/algorithms/libs/gnss_signal_processing.cc
View File

@ -165,20 +165,20 @@ void resampler(const gsl::span<float> _from, gsl::span<float> _dest, float _fs_i
{
uint32_t _codeValueIndex;
float aux;
//--- Find time constants --------------------------------------------------
// --- 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 < _dest.size() - 1; i++)
{
//=== Digitizing ===================================================
//--- compute index array to read sampled values -------------------
// === Digitizing ==================================================
// --- compute index array to read sampled values ------------------
aux = (_t_out * (i + 1)) / _t_in;
_codeValueIndex = auxCeil2(aux) - 1;
// if repeat the chip -> upsample by nearest neighborhood interpolation
_dest[i] = _from[_codeValueIndex];
}
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[_dest.size() - 1] = _from[_from.size() - 1];
}
@ -188,19 +188,19 @@ void resampler(gsl::span<const std::complex<float>> _from, gsl::span<std::comple
{
uint32_t _codeValueIndex;
float aux;
//--- Find time constants --------------------------------------------------
// --- 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 < _dest.size() - 1; i++)
{
//=== Digitizing ===================================================
//--- compute index array to read sampled values -------------------
// === Digitizing ==================================================
// --- compute index array to read sampled values ------------------
aux = (_t_out * (i + 1)) / _t_in;
_codeValueIndex = auxCeil2(aux) - 1;
// if repeat the chip -> upsample by nearest neighborhood interpolation
_dest[i] = _from[_codeValueIndex];
}
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[_dest.size() - 1] = _from[_from.size() - 1];
}

12
src/algorithms/libs/gps_l2c_signal.cc
View File

@ -101,24 +101,24 @@ void gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, ui
float _tc;
const int32_t _codeLength = GPS_L2_M_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
//--- Find time constants --------------------------------------------------
// --- Find time constants -------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L2_M_CODE_RATE_HZ); // L2C chip period in sec
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read L2C code values -------------------------
// --- Make index array to read L2C code values --------------------
_codeValueIndex = std::ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
//--- Make the digitized version of the L2C code -----------------------
// --- Make the digitized version of the L2C code ------------------
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0);
}
else

24
src/algorithms/libs/gps_l5_signal.cc
View File

@ -218,24 +218,24 @@ void gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint
float _tc;
const int32_t _codeLength = GPS_L5I_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / (static_cast<double>(GPS_L5I_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
//--- Find time constants --------------------------------------------------
// --- Find time constants -------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L5I_CODE_RATE_HZ); // L5I primary chip period in sec
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read L5 code values -------------------------
// --- Make index array to read L5 code values ---------------------
_codeValueIndex = static_cast<int32_t>(std::ceil(_ts * static_cast<float>(i + 1) / _tc)) - 1;
//--- Make the digitized version of the L5I code -----------------------
// --- Make the digitized version of the L5I code ------------------
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0.0);
}
else
@ -292,24 +292,24 @@ void gps_l5q_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint
float _tc;
const int32_t _codeLength = GPS_L5Q_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / (static_cast<double>(GPS_L5Q_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
//--- Find time constants --------------------------------------------------
// --- Find time constants -------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L5Q_CODE_RATE_HZ); // L5Q chip period in sec
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
// === Digitizing ==================================================
//--- Make index array to read L5 code values -------------------------
// --- Make index array to read L5 code values ---------------------
_codeValueIndex = static_cast<int32_t>(std::ceil(_ts * static_cast<float>(i + 1) / _tc)) - 1;
//--- Make the digitized version of the L5Q code -----------------------
// --- Make the digitized version of the L5Q code ------------------
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
// --- Correct the last index (due to number rounding issues) -----------
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0);
}
else

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

@ -162,19 +162,19 @@ void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, ui
const int32_t _codeFreqBasis = 1023000; // Hz
const int32_t _codeLength = 1023;
//--- Find number of samples per spreading code ----------------------------
// --- Find number of samples per spreading code ---------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
// --- 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
gps_l1_ca_code_gen_complex(_code, _prn, _chip_shift); // generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing ===================================================
// === Digitizing ==================================================
//--- Make index array to read C/A code values ---------------------
// --- Make index array to read C/A code values --------------------
// The length of the index array depends on the sampling frequency -
// number of samples per millisecond (because one C/A code period is one
// millisecond).
@ -182,12 +182,12 @@ void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, ui
aux = (_ts * (i + 1)) / _tc;
_codeValueIndex = auxCeil(aux) - 1;
//--- Make the digitized version of the C/A code -------------------
// --- Make the digitized version of the C/A code -------------------
// The "upsampled" code is made by selecting values form the CA code
// chip array (caCode) for the time instances of each sample.
if (i == _samplesPerCode - 1)
{
//--- Correct the last index (due to number rounding issues)
// --- Correct the last index (due to number rounding issues)
_dest[i] = _code[_codeLength - 1];
}
else

11
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
View File

@ -45,6 +45,7 @@
#include <iostream> // for cerr, cout
#include <limits> // for numeric_limits
#include <utility> // for move
#include <vector> // for vector
#if HAS_STD_FILESYSTEM
#include <system_error>
@ -141,7 +142,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
}
T_rx_TOW_ms = 0U;
T_rx_remnant_to_20ms = 0;
T_rx_step_ms = 20; //read from config at the adapter GNSS-SDR.observable_interval_ms!!
T_rx_step_ms = 20; // read from config at the adapter GNSS-SDR.observable_interval_ms!!
T_rx_TOW_set = false;
T_status_report_timer_ms = 0;
// rework
@ -199,7 +200,7 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
T_rx_offset_ms = new_rx_clock_offset_s * 1000.0;
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
//d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
@ -475,7 +476,7 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
std::vector<Gnss_Synchro>::const_iterator it;
if (!T_rx_TOW_set)
{
//uint32_t TOW_ref = std::numeric_limits<uint32_t>::max();
// int32_t TOW_ref = std::numeric_limits<uint32_t>::max();
uint32_t TOW_ref = 0U;
for (it = data.cbegin(); it != data.cend(); it++)
{
@ -622,14 +623,14 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
out[n][0] = epoch_data.at(n);
}
//report channel status every second
// report channel status every second
T_status_report_timer_ms += T_rx_step_ms;
if (T_status_report_timer_ms >= 1000)
{
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data.at(n));
//publish valid gnss_synchro to the gnss_flowgraph channel status monitor
// publish valid gnss_synchro to the gnss_flowgraph channel status monitor
this->message_port_pub(pmt::mp("status"), pmt::make_any(gnss_synchro_sptr));
}
T_status_report_timer_ms = 0;

1
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
View File

@ -41,7 +41,6 @@
#include <cstdint> // for int32_t
#include <fstream> // for string, ofstream
#include <memory> // for shared_ptr
#include <vector> // for vector
class Gnss_Synchro;
class hybrid_observables_gs;

4
src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
View File

@ -78,14 +78,16 @@ public:
private:
boost::mutex d_mutex;
pcap_t *descr; //ethernet pcap device descriptor
pcap_t *descr; // ethernet pcap device descriptor
char *fifo_buff;
int fifo_read_ptr;
int fifo_write_ptr;
int fifo_items;
int d_sock_raw;
int d_udp_port;
// clang-format off
struct sockaddr_in si_me{};
// clang-format on
std::string d_src_device;
std::string d_origin_address;
int d_udp_payload_size;

18
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -287,7 +287,7 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
// Update satellite information for DNAV decoder
sat_prn = d_satellite.get_PRN();
d_nav.i_satellite_PRN = sat_prn;
d_nav.i_signal_type = 1; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
d_nav.i_signal_type = 1; // BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
// Update tel dec parameters for D2 NAV Messages
if (sat_prn > 0 and sat_prn < 6)
@ -315,7 +315,7 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
}
else
{
//back to normal satellites
// back to normal satellites
d_symbol_duration_ms = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
@ -395,7 +395,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
if (d_symbol_history.size() >= d_required_symbols)
{
//******* preamble correlation ********
// ******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++)
{
if (d_symbol_history[i] < 0) // symbols clipping
@ -408,7 +408,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
}
}
}
//******* frame sync ******************
// ******* frame sync ******************
if (d_stat == 0) // no preamble information
{
if (abs(corr_value) >= d_samples_per_preamble)
@ -430,13 +430,13 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
// try to decode frame
DLOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_preamble_index = d_sample_counter; // record the preamble sample stamp
d_stat = 2;
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
if (corr_value > 0) // normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
@ -493,7 +493,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
if (corr_value > 0) // normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
@ -543,9 +543,9 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0);
//check TOW update consistency
// check TOW update consistency
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
//compute new TOW
// compute new TOW
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + d_required_symbols * d_symbol_duration_ms;
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;

14
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -387,6 +387,7 @@ void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
}
}
void beidou_b3i_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
@ -397,6 +398,7 @@ void beidou_b3i_telemetry_decoder_gs::reset()
return;
}
int beidou_b3i_telemetry_decoder_gs::general_work(
int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items __attribute__((unused)),
@ -420,7 +422,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
if (d_symbol_history.size() >= d_required_symbols)
{
//******* preamble correlation ********
// ******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++)
{
if (d_symbol_history[i] < 0) // symbols clipping
@ -433,7 +435,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
}
}
}
//******* frame sync ******************
// ******* frame sync ******************
if (d_stat == 0) // no preamble information
{
if (abs(corr_value) >= d_samples_per_preamble)
@ -460,7 +462,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
d_stat = 2;
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
if (corr_value > 0) // normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
@ -520,7 +522,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
if (corr_value > 0) // normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
@ -572,9 +574,9 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0);
//check TOW update consistency
// check TOW update consistency
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
//compute new TOW
// compute new TOW
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + d_required_symbols * d_symbol_duration_ms;
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;

10
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -95,7 +95,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; //rise alarm 60 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; // rise alarm 60 seconds without valid tlm
break;
}
@ -112,7 +112,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 5; //rise alarm 100 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 5; // rise alarm 100 seconds without valid tlm
break;
}
default:
@ -309,7 +309,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(double *page_part_symbols, i
{
std::shared_ptr<Galileo_Almanac_Helper> tmp_obj = std::make_shared<Galileo_Almanac_Helper>(d_inav_nav.get_almanac());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
//debug
// debug
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
DLOG(INFO) << "Current parameters:";
DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
@ -469,7 +469,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
int message = 1; // bad telemetry
DLOG(INFO) << "sent msg sat " << this->d_satellite;
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
@ -772,7 +772,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
// todo: Galileo to GPS time conversion should be moved to observable block.
// current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW
// current_symbol.TOW_at_current_symbol_ms -= delta_t; // Galileo to GPS TOW
if (d_dump == true)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -342,7 +342,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
int message = 1; // bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}

4
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_gs.cc
View File

@ -78,7 +78,7 @@ gps_l2c_telemetry_decoder_gs::gps_l2c_telemetry_decoder_gs(
d_flag_valid_word = false;
d_TOW_at_current_symbol = 0;
d_TOW_at_Preamble = 0;
d_state = 0; //initial state
d_state = 0; // initial state
d_crc_error_count = 0;
// initialize the CNAV frame decoder (libswiftcnav)
@ -170,7 +170,7 @@ int gps_l2c_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
int message = 1; // bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
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@ -165,7 +165,7 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
int message = 1; // bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}

29
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc
View File

@ -46,8 +46,9 @@
#define LMORE 5 //
sbas_l1_telemetry_decoder_gs_sptr
sbas_l1_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump)
sbas_l1_telemetry_decoder_gs_sptr sbas_l1_make_telemetry_decoder_gs(
const Gnss_Satellite &satellite,
bool dump)
{
return sbas_l1_telemetry_decoder_gs_sptr(new sbas_l1_telemetry_decoder_gs(satellite, dump));
}
@ -114,9 +115,6 @@ sbas_l1_telemetry_decoder_gs::Sample_Aligner::Sample_Aligner()
}
sbas_l1_telemetry_decoder_gs::Sample_Aligner::~Sample_Aligner() = default;
void sbas_l1_telemetry_decoder_gs::Sample_Aligner::reset()
{
d_past_sample = 0;
@ -194,19 +192,12 @@ sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::Symbol_Aligner_And_Dec
const int32_t nn = 2;
std::array<int32_t, nn> g_encoder{121, 91};
d_vd1 = new Viterbi_Decoder(g_encoder.data(), d_KK, nn);
d_vd2 = new Viterbi_Decoder(g_encoder.data(), d_KK, nn);
d_vd1 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
d_vd1 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
d_past_symbol = 0;
}
sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::~Symbol_Aligner_And_Decoder()
{
delete d_vd1;
delete d_vd2;
}
void sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::reset()
{
d_past_symbol = 0;
@ -229,11 +220,11 @@ bool sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::get_bits(const st
symbols_vd2.push_back(*symbol_it);
}
// arrays for decoded bits
auto *bits_vd1 = new int32_t[nbits_requested];
auto *bits_vd2 = new int32_t[nbits_requested];
std::vector<int32_t> bits_vd1(nbits_requested);
std::vector<int32_t> bits_vd2(nbits_requested);
// decode
float metric_vd1 = d_vd1->decode_continuous(symbols_vd1.data(), traceback_depth, bits_vd1, nbits_requested, nbits_decoded);
float metric_vd2 = d_vd2->decode_continuous(symbols_vd2.data(), traceback_depth, bits_vd2, nbits_requested, nbits_decoded);
float metric_vd1 = d_vd1->decode_continuous(symbols_vd1.data(), traceback_depth, bits_vd1.data(), nbits_requested, nbits_decoded);
float metric_vd2 = d_vd2->decode_continuous(symbols_vd2.data(), traceback_depth, bits_vd2.data(), nbits_requested, nbits_decoded);
// choose the bits with the better metric
for (int32_t i = 0; i < nbits_decoded; i++)
{
@ -247,8 +238,6 @@ bool sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::get_bits(const st
}
}
d_past_symbol = symbols.back();
delete[] bits_vd1;
delete[] bits_vd2;
return metric_vd1 > metric_vd2;
}

29
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.h
View File

@ -5,7 +5,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -40,6 +40,7 @@
#include <cstdint>
#include <deque>
#include <fstream>
#include <memory>
#include <string>
#include <utility> // for pair
#include <vector>
@ -50,12 +51,13 @@ class sbas_l1_telemetry_decoder_gs;
using sbas_l1_telemetry_decoder_gs_sptr = boost::shared_ptr<sbas_l1_telemetry_decoder_gs>;
sbas_l1_telemetry_decoder_gs_sptr
sbas_l1_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
sbas_l1_telemetry_decoder_gs_sptr sbas_l1_make_telemetry_decoder_gs(
const Gnss_Satellite &satellite,
bool dump);
/*!
* \brief This class implements a block that decodes the SBAS integrity and corrections data defined in RTCA MOPS DO-229
*
* \brief This class implements a block that decodes the SBAS integrity and
* corrections data defined in RTCA MOPS DO-229
*/
class sbas_l1_telemetry_decoder_gs : public gr::block
{
@ -67,6 +69,7 @@ public:
{
return;
}
/*!
* \brief This is where all signal processing takes place
*/
@ -74,8 +77,10 @@ public:
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
private:
friend sbas_l1_telemetry_decoder_gs_sptr
sbas_l1_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
friend sbas_l1_telemetry_decoder_gs_sptr sbas_l1_make_telemetry_decoder_gs(
const Gnss_Satellite &satellite,
bool dump);
sbas_l1_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits);
@ -103,7 +108,7 @@ private:
{
public:
Sample_Aligner();
~Sample_Aligner();
~Sample_Aligner() = default;
void reset();
/*
* samples length must be a multiple of two
@ -125,14 +130,14 @@ private:
{
public:
Symbol_Aligner_And_Decoder();
~Symbol_Aligner_And_Decoder();
~Symbol_Aligner_And_Decoder() = default;
void reset();
bool get_bits(const std::vector<double> &symbols, std::vector<int32_t> &bits);
private:
int32_t d_KK;
Viterbi_Decoder *d_vd1;
Viterbi_Decoder *d_vd2;
std::shared_ptr<Viterbi_Decoder> d_vd1;
std::shared_ptr<Viterbi_Decoder> d_vd2;
double d_past_symbol;
} d_symbol_aligner_and_decoder;
@ -157,7 +162,7 @@ private:
void get_valid_frames(const std::vector<msg_candiate_int_t> &msg_candidates, std::vector<msg_candiate_char_t> &valid_msgs);
private:
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
typedef boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false> crc_24_q_type;
crc_24_q_type d_checksum_agent;
void zerropad_front_and_convert_to_bytes(const std::vector<int32_t> &msg_candidate, std::vector<uint8_t> &bytes);
void zerropad_back_and_convert_to_bytes(const std::vector<int32_t> &msg_candidate, std::vector<uint8_t> &bytes);

8
src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
View File

@ -50,7 +50,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
@ -159,7 +159,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -216,7 +216,7 @@ void BeidouB1iDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -225,7 +225,7 @@ void BeidouB1iDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

8
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -51,7 +51,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
@ -163,7 +163,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -220,7 +220,7 @@ void BeidouB3iDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -229,7 +229,7 @@ void BeidouB3iDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

8
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -49,7 +49,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
@ -167,7 +167,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -225,7 +225,7 @@ void GalileoE1DllPllVemlTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -234,7 +234,7 @@ void GalileoE1DllPllVemlTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

1
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h
View File

@ -92,6 +92,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

8
src/algorithms/tracking/adapters/galileo_e1_tcp_connector_tracking.cc
View File

@ -48,7 +48,7 @@ GalileoE1TcpConnectorTracking::GalileoE1TcpConnectorTracking(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
@ -81,7 +81,7 @@ GalileoE1TcpConnectorTracking::GalileoE1TcpConnectorTracking(
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -145,7 +145,7 @@ void GalileoE1TcpConnectorTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -154,7 +154,7 @@ void GalileoE1TcpConnectorTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

8
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -48,7 +48,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
@ -164,7 +164,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -221,7 +221,7 @@ void GalileoE5aDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -230,7 +230,7 @@ void GalileoE5aDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

1
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h
View File

@ -89,6 +89,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

10
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -46,7 +46,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
@ -171,7 +171,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
uint32_t device_base = configuration->property(role + ".device_base", 27);
trk_param_fpga.device_base = device_base;
//################# PRE-COMPUTE ALL THE CODES #################
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
auto code_length_chips = static_cast<uint32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS);
@ -260,7 +260,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
}
}
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;
@ -311,7 +311,7 @@ void GalileoE5aDllPllTrackingFpga::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -320,7 +320,7 @@ void GalileoE5aDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

9
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc
View File

@ -49,7 +49,7 @@ GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
@ -61,7 +61,6 @@ GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
float dll_bw_narrow_hz;
float early_late_space_chips;
item_type_ = configuration->property(role + ".item_type", default_item_type);
//vector_length = configuration->property(role + ".vector_length", 2048);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false);
@ -85,7 +84,7 @@ GlonassL1CaDllPllCAidTracking::GlonassL1CaDllPllCAidTracking(
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -201,7 +200,7 @@ void GlonassL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -210,7 +209,7 @@ void GlonassL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

8
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.cc
View File

@ -48,7 +48,7 @@ GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
@ -77,7 +77,7 @@ GlonassL1CaDllPllTracking::GlonassL1CaDllPllTracking(
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -140,7 +140,7 @@ void GlonassL1CaDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -149,7 +149,7 @@ void GlonassL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

1
src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_tracking.h
View File

@ -91,6 +91,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

9
src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_c_aid_tracking.cc
View File

@ -47,7 +47,7 @@ GlonassL2CaDllPllCAidTracking::GlonassL2CaDllPllCAidTracking(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
@ -59,7 +59,6 @@ GlonassL2CaDllPllCAidTracking::GlonassL2CaDllPllCAidTracking(
float dll_bw_narrow_hz;
float early_late_space_chips;
item_type_ = configuration->property(role + ".item_type", default_item_type);
//vector_length = configuration->property(role + ".vector_length", 2048);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false);
@ -83,7 +82,7 @@ GlonassL2CaDllPllCAidTracking::GlonassL2CaDllPllCAidTracking(
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -199,7 +198,7 @@ void GlonassL2CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -208,7 +207,7 @@ void GlonassL2CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

1
src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_c_aid_tracking.h
View File

@ -91,6 +91,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

8
src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_tracking.cc
View File

@ -46,7 +46,7 @@ GlonassL2CaDllPllTracking::GlonassL2CaDllPllTracking(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
bool dump;
@ -75,7 +75,7 @@ GlonassL2CaDllPllTracking::GlonassL2CaDllPllTracking(
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
vector_length = std::round(fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -138,7 +138,7 @@ void GlonassL2CaDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -147,7 +147,7 @@ void GlonassL2CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

1
src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_tracking.h
View File

@ -90,6 +90,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

8
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -50,7 +50,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
@ -170,7 +170,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -227,7 +227,7 @@ void GpsL1CaDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -236,7 +236,7 @@ void GpsL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

11
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@ -51,7 +51,7 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
@ -177,7 +177,7 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
uint32_t device_base = configuration->property(role + ".device_base", 3);
trk_param_fpga.device_base = device_base;
//################# PRE-COMPUTE ALL THE CODES #################
// ################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
@ -214,8 +214,7 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
}
}
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
@ -261,7 +260,7 @@ void GpsL1CaDllPllTrackingFpga::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect
// nothing to connect
}
@ -270,7 +269,7 @@ void GpsL1CaDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect
// nothing to disconnect
}

18
src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.cc
View File

@ -50,7 +50,7 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int order;
int fs_in;
int vector_length;
@ -89,7 +89,7 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
bce_nu = configuration->property(role + ".bce_nu", 0);
bce_kappa = configuration->property(role + ".bce_kappa", 0);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -115,6 +115,16 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
if (in_streams_ == 0)
{
in_streams_ = 1;
// Avoid compiler warning
}
if (out_streams_ == 0)
{
out_streams_ = 1;
// Avoid compiler warning
}
}
@ -150,7 +160,7 @@ void GpsL1CaKfTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -159,7 +169,7 @@ void GpsL1CaKfTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

8
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -49,7 +49,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
@ -146,7 +146,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -203,7 +203,7 @@ void GpsL2MDllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -212,7 +212,7 @@ void GpsL2MDllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

6
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
View File

@ -56,7 +56,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
@ -119,7 +119,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
auto* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
//################# PRE-COMPUTE ALL THE CODES #################
// ################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
@ -136,7 +136,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
trk_param_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
//################# MAKE TRACKING GNU Radio object ###################
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;

8
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
View File

@ -49,7 +49,7 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
@ -166,7 +166,7 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
@ -223,7 +223,7 @@ void GpsL5DllPllTracking::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -232,7 +232,7 @@ void GpsL5DllPllTracking::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

1
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.h
View File

@ -89,6 +89,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

9
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -53,7 +53,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
@ -175,7 +175,8 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
trk_param_fpga.device_name = device_name;
uint32_t device_base = configuration->property(role + ".device_base", 27);
trk_param_fpga.device_base = device_base;
//################# PRE-COMPUTE ALL THE CODES #################
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
auto code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
@ -332,7 +333,7 @@ void GpsL5DllPllTrackingFpga::connect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
// nothing to connect, now the tracking uses gr_sync_decimator
}
@ -341,7 +342,7 @@ void GpsL5DllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
// nothing to disconnect, now the tracking uses gr_sync_decimator
}

21
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -92,7 +92,7 @@ dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_)
dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
//prevent telemetry symbols accumulation in output buffers
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
trk_parameters = conf_;
// Telemetry bit synchronization message port input
@ -326,7 +326,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_symbols_per_bit = 0;
}
}
else
{
LOG(WARNING) << "Invalid System argument when instantiating tracking blocks";
@ -545,7 +544,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
d_carrier_lock_fail_counter = 200000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 200000; // force loss-of-lock condition
}
}
}
@ -1049,7 +1048,7 @@ void dll_pll_veml_tracking::update_tracking_vars()
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
d_current_prn_length_samples = static_cast<int32_t>(std::floor(K_blk_samples)); // round to a discrete number of samples
//################### PLL COMMANDS #################################################
// ################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
@ -1083,7 +1082,7 @@ void dll_pll_veml_tracking::update_tracking_vars()
// std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
//################### DLL COMMANDS #################################################
// ################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
if (trk_parameters.high_dyn)
@ -1537,8 +1536,6 @@ void dll_pll_veml_tracking::set_channel(uint32_t channel)
{
try
{
//trk_parameters.dump_filename.append(boost::lexical_cast<std::string>(d_channel));
//trk_parameters.dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(dump_filename_.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << dump_filename_.c_str();
@ -1637,10 +1634,10 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
//fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
// fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
{
d_carrier_lock_fail_counter = 300000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 300000; // force loss-of-lock condition
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking synchronization time limit reached in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
@ -1678,9 +1675,9 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
}
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
else if (d_symbols_per_bit > 1) // Signal does not have secondary code. Search a bit transition by sign change
{
//******* preamble correlation ********
// ******* preamble correlation ********
d_Prompt_circular_buffer.push_back(*d_Prompt);
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
{
@ -1701,7 +1698,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
else
{
next_state = false; //keep in state 2 during pull-in transitory
next_state = false; // keep in state 2 during pull-in transitory
}
if (next_state)
{ // reset extended correlator

54
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -83,8 +83,9 @@ dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Co
dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_) : gr::block("dll_pll_veml_tracking_fpga", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
//prevent telemetry symbols accumulation in output buffers
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
trk_parameters = conf_;
// Telemetry bit synchronization message port input
this->message_port_register_out(pmt::mp("events"));
@ -476,7 +477,7 @@ void dll_pll_veml_tracking_fpga::msg_handler_telemetry_to_trk(const pmt::pmt_t &
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
d_carrier_lock_fail_counter = 200000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 200000; // force loss-of-lock condition
}
}
}
@ -514,6 +515,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
m_condition.notify_one();
}
dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
{
if (d_dump_file.is_open())
@ -606,7 +608,6 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
float d_CN0_SNV_dB_Hz_raw = cn0_svn_estimator(d_Prompt_buffer.data(), trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
// Carrier lock indicator
//d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer.data(), trk_parameters.cn0_samples);
d_carrier_lock_test = d_carrier_lock_test_smoother.smooth(carrier_lock_detector(d_Prompt_buffer.data(), 1));
// Loss of lock detection
if (!d_pull_in_transitory)
@ -789,15 +790,12 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
// keep alignment parameters for the next input buffer
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
//T_prn_samples_prev = T_prn_samples;
T_prn_samples = T_prn_seconds * trk_parameters.fs_in;
//K_blk_samples = T_prn_samples + d_rem_code_phase_samples; // initially d_rem_code_phase_samples is zero. It is updated at the end of this function
K_blk_samples = T_prn_samples * d_current_fpga_integration_period + d_rem_code_phase_samples; // initially d_rem_code_phase_samples is zero. It is updated at the end of this function
auto actual_blk_length = static_cast<int32_t>(std::floor(K_blk_samples));
//d_next_integration_length_samples = 2 * actual_blk_length - d_current_integration_length_samples;
d_next_integration_length_samples = actual_blk_length;
//################### PLL COMMANDS #################################################
// ################## PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
@ -831,7 +829,7 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
// std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_integration_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_integration_length_samples) * static_cast<double>(d_current_integration_length_samples));
//################### DLL COMMANDS #################################################
// ################## DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
if (trk_parameters.high_dyn)
@ -956,7 +954,7 @@ void dll_pll_veml_tracking_fpga::save_correlation_results()
else
{
d_P_data_accu += *d_Prompt;
//std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
// std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
}
d_current_data_symbol += d_current_fpga_integration_period;
d_current_data_symbol %= d_symbols_per_bit;
@ -1301,8 +1299,6 @@ void dll_pll_veml_tracking_fpga::set_channel(uint32_t channel)
{
try
{
//trk_parameters.dump_filename.append(boost::lexical_cast<std::string>(d_channel));
//trk_parameters.dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(dump_filename_.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << dump_filename_.c_str();
@ -1506,13 +1502,10 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
case 1: // Pull-in
{
d_worker_is_done = false;
boost::mutex::scoped_lock lock(d_mutex);
while (!d_worker_is_done) m_condition.wait(lock);
// Signal alignment (skip samples until the incoming signal is aligned with local replica)
int64_t acq_trk_diff_samples;
double acq_trk_diff_seconds;
double delta_trk_to_acq_prn_start_samples;
@ -1533,7 +1526,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
else
{
// test mode
acq_trk_diff_samples = -static_cast<int64_t>(counter_value) + static_cast<int64_t>(d_acq_sample_stamp);
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in;
delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) + d_acq_code_phase_samples;
@ -1541,9 +1533,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
absolute_samples_offset = static_cast<uint64_t>(delta_trk_to_acq_prn_start_samples);
}
multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
//d_absolute_samples_offset = absolute_samples_offset;
d_sample_counter = absolute_samples_offset;
d_sample_counter_next = d_sample_counter;
@ -1568,10 +1558,10 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
DLOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
// std::cout << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)" << std::endl;
// DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
// << ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
// DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
// std::cout << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)" << std::endl;
// DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
// << ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
break;
}
@ -1583,7 +1573,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
do_correlation_step();
// Save single correlation step variables
if (d_veml)
{
d_VE_accu = *d_Very_Early;
@ -1593,16 +1582,15 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
//fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
// fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
{
d_carrier_lock_fail_counter = 300000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 300000; // force loss-of-lock condition
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking synchronization time limit reached in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
// Check lock status
if (!cn0_and_tracking_lock_status(d_code_period))
{
clear_tracking_vars();
@ -1643,9 +1631,9 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
}
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
else if (d_symbols_per_bit > 1) // Signal does not have secondary code. Search a bit transition by sign change
{
//******* preamble correlation ********
// ******* preamble correlation ********
d_Prompt_circular_buffer.push_back(*d_Prompt);
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
{
@ -1666,7 +1654,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
else
{
next_state = false; //keep in state 2 during pull-in transitory
next_state = false; // keep in state 2 during pull-in transitory
}
if (next_state)
@ -1751,7 +1739,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
}
}
break;
}
case 3: // coherent integration (correlation time extension)
@ -1843,7 +1830,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
break;
}
case 5: // coherent integration (correlation time extension)
{
d_sample_counter = d_sample_counter_next;
@ -1889,8 +1875,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
break;
}
case 6: // narrow tracking IN THE FPGA
{
d_sample_counter = d_sample_counter_next;
@ -1956,13 +1940,15 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
break;
}
default:
break;
}
}
if (current_synchro_data.Flag_valid_symbol_output)
{
current_synchro_data.fs = static_cast<int64_t>(trk_parameters.fs_in);
current_synchro_data.Tracking_sample_counter = d_sample_counter_next; //d_sample_counter;
current_synchro_data.Tracking_sample_counter = d_sample_counter_next; // d_sample_counter;
*out[0] = current_synchro_data;
return 1;
}

12
src/core/receiver/control_thread.cc
View File

@ -112,7 +112,7 @@ void ControlThread::init()
{
// Instantiates a control queue, a GNSS flowgraph, and a control message factory
control_queue_ = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
cmd_interface_.set_msg_queue(control_queue_); //set also the queue pointer for the telecommand thread
cmd_interface_.set_msg_queue(control_queue_); // set also the queue pointer for the telecommand thread
try
{
flowgraph_ = std::make_shared<GNSSFlowgraph>(configuration_, control_queue_);
@ -274,8 +274,8 @@ void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
{
if (receiver_on_standby_ == false)
{
//perform non-priority tasks
flowgraph_->acquisition_manager(0); //start acquisition of untracked satellites
// perform non-priority tasks
flowgraph_->acquisition_manager(0); // start acquisition of untracked satellites
}
}
}
@ -342,9 +342,9 @@ int ControlThread::run()
pmt::pmt_t msg;
while (flowgraph_->running() && !stop_)
{
//read event messages, triggered by event signaling with a 100 ms timeout to perform low priority receiver management tasks
// read event messages, triggered by event signaling with a 100 ms timeout to perform low priority receiver management tasks
bool valid_event = control_queue_->timed_wait_and_pop(msg, 100);
//call the new sat dispatcher and receiver controller
// call the new sat dispatcher and receiver controller
event_dispatcher(valid_event, msg);
}
std::cout << "Stopping GNSS-SDR, please wait!" << std::endl;
@ -618,7 +618,7 @@ bool ControlThread::read_assistance_from_XML()
void ControlThread::assist_GNSS()
{
//######### GNSS Assistance #################################
// ######### GNSS Assistance #################################
// GNSS Assistance configuration
bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
bool enable_agnss_xml = configuration_->property("GNSS-SDR.AGNSS_XML_enabled", false);

20
src/core/receiver/gnss_flowgraph.cc
View File

@ -303,7 +303,7 @@ void GNSSFlowgraph::connect()
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
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
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)
{
@ -327,7 +327,7 @@ void GNSSFlowgraph::connect()
}
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
top_block_->connect(ch_out_fpga_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
top_block_->connect(ch_out_fpga_sample_counter, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
}
catch (const std::exception& e)
{
@ -353,7 +353,7 @@ void GNSSFlowgraph::connect()
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
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
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)
{
@ -525,7 +525,7 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
signal_conditioner_connected.at(selected_signal_conditioner_ID) = true; //notify that this signal conditioner is connected
signal_conditioner_connected.at(selected_signal_conditioner_ID) = true; // notify that this signal conditioner is connected
DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
}
#endif
@ -815,7 +815,7 @@ void GNSSFlowgraph::disconnect()
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{
//Multichannel Array
// Multichannel Array
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
@ -1163,7 +1163,9 @@ void GNSSFlowgraph::remove_signal(const Gnss_Signal& gs)
break;
}
}
//project Doppler from primary frequency to secondary frequency
// project Doppler from primary frequency to secondary frequency
double GNSSFlowgraph::project_doppler(std::string searched_signal, double primary_freq_doppler_hz)
{
switch (mapStringValues_[searched_signal])
@ -1182,6 +1184,7 @@ double GNSSFlowgraph::project_doppler(std::string searched_signal, double primar
}
}
void GNSSFlowgraph::acquisition_manager(unsigned int who)
{
unsigned int current_channel;
@ -1235,7 +1238,7 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
}
else
{
//set Doppler center to 0 Hz
// set Doppler center to 0 Hz
channels_[current_channel]->assist_acquisition_doppler(0);
}
#ifndef ENABLE_FPGA
@ -1285,7 +1288,6 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
//todo: the acquisition events are initiated from the acquisition success or failure queued msg. If the acquisition is disabled for non-assisted secondary freq channels, the engine stops..
std::lock_guard<std::mutex> lock(signal_list_mutex);
DLOG(INFO) << "Received " << what << " from " << who;
unsigned int sat = 0;
@ -1313,7 +1315,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
//push back the old signal AFTER assigning a new one to avoid selecting the same signal
// push back the old signal AFTER assigning a new one to avoid selecting the same signal
if (sat == 0)
{
push_back_signal(gs);

6
src/core/receiver/tcp_cmd_interface.cc
View File

@ -92,7 +92,7 @@ std::string TcpCmdInterface::reset(const std::vector<std::string> &commandLine _
std::string response;
if (control_queue_ != nullptr)
{
command_event_sptr new_evnt = command_event_make(200, 1); //send the restart message (who=200,what=1)
command_event_sptr new_evnt = command_event_make(200, 1); // send the restart message (who=200,what=1)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
@ -109,7 +109,7 @@ std::string TcpCmdInterface::standby(const std::vector<std::string> &commandLine
std::string response;
if (control_queue_ != nullptr)
{
command_event_sptr new_evnt = command_event_make(300, 10); //send the standby message (who=300,what=10)
command_event_sptr new_evnt = command_event_make(300, 10); // send the standby message (who=300,what=10)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
@ -200,7 +200,7 @@ std::string TcpCmdInterface::hotstart(const std::vector<std::string> &commandLin
{
if (control_queue_ != nullptr)
{
command_event_sptr new_evnt = command_event_make(300, 12); //send the standby message (who=300,what=12)
command_event_sptr new_evnt = command_event_make(300, 12); // send the standby message (who=300,what=12)
control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}