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Propagate extra_data tags in Observables

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This commit is contained in:
Victor Castillo 2024-08-14 01:13:29 +02:00
parent 96483a2037
commit 936162db4e
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GPG Key ID: 8EF1FC8B7182F608
2 changed files with 32 additions and 9 deletions
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36
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -659,6 +659,22 @@ void hybrid_observables_gs::set_tag_timestamp_in_sdr_timeframe(const std::vector
} }
} }
void hybrid_observables_gs::propagate_extra_data(const std::vector<Gnss_Synchro> &data)
{
if (d_extra_data_tags.empty())
{
return;
}
do
{
auto &tag = d_extra_data_tags.front();
add_item_tag(0, this->nitems_written(0) + 1, tag.key, tag.value);
d_extra_data_tags.pop();
}
while (!d_extra_data_tags.empty());
}
int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)), int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
@ -673,9 +689,17 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{ {
d_Rx_clock_buffer.push_back(in[d_nchannels_in - 1][0].Tracking_sample_counter); d_Rx_clock_buffer.push_back(in[d_nchannels_in - 1][0].Tracking_sample_counter);
// time tags
std::vector<gr::tag_t> tags_vec; std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, d_nchannels_in - 1, this->nitems_read(d_nchannels_in - 1), this->nitems_read(d_nchannels_in - 1) + 1); // extra data tags
get_tags_in_range(tags_vec, d_nchannels_in - 1, this->nitems_read(d_nchannels_in - 1), this->nitems_read(d_nchannels_in - 1) + 1, pmt::mp("extra_data"));
// std::cout << "OBS (" << std::to_string(tags_vec.size()) << ")" << std::endl;
for (const auto &tag : tags_vec)
{
d_extra_data_tags.emplace(tag);
}
// time tags
tags_vec.clear();
this->get_tags_in_range(tags_vec, d_nchannels_in - 1, this->nitems_read(d_nchannels_in - 1), this->nitems_read(d_nchannels_in - 1) + 1, pmt::mp("timetag"));
for (const auto &it : tags_vec) for (const auto &it : tags_vec)
{ {
try try
@ -762,7 +786,6 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
std::vector<Gnss_Synchro> epoch_data(d_nchannels_out); std::vector<Gnss_Synchro> epoch_data(d_nchannels_out);
int32_t n_valid = 0; int32_t n_valid = 0;
std::vector<gr::tag_t> tags{}; std::vector<gr::tag_t> tags{};
get_tags_in_range(tags, d_ref_channel, nitems_read(d_ref_channel) - ninput_items[d_ref_channel], nitems_read(d_ref_channel), pmt::mp("extra_data"));
for (uint32_t n = 0; n < d_nchannels_out; n++) for (uint32_t n = 0; n < d_nchannels_out; n++)
{ {
@ -799,6 +822,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{ {
compute_pranges(epoch_data); compute_pranges(epoch_data);
set_tag_timestamp_in_sdr_timeframe(epoch_data, d_Rx_clock_buffer.front()); set_tag_timestamp_in_sdr_timeframe(epoch_data, d_Rx_clock_buffer.front());
propagate_extra_data(epoch_data);
} }
// Carrier smoothing (optional) // Carrier smoothing (optional)
@ -810,12 +834,6 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
// output the observables set to the PVT block // output the observables set to the PVT block
for (uint32_t n = 0; n < d_nchannels_out; n++) for (uint32_t n = 0; n < d_nchannels_out; n++)
{ {
for (const auto &tag : tags)
{
add_item_tag(n, this->nitems_written(n) + 1, tag.key, tag.value);
// std::cout << "[ED TAG (TRK)] [" << std::to_string(tag.offset) << "] ";
// std::cout << std::endl;
}
out[n][0] = epoch_data[n]; out[n][0] = epoch_data[n];
} }
// report channel status every second // report channel status every second

5
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
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@ -79,6 +79,9 @@ private:
void smooth_pseudoranges(std::vector<Gnss_Synchro>& data); void smooth_pseudoranges(std::vector<Gnss_Synchro>& data);
void set_tag_timestamp_in_sdr_timeframe(const std::vector<Gnss_Synchro>& data, uint64_t rx_clock); void set_tag_timestamp_in_sdr_timeframe(const std::vector<Gnss_Synchro>& data, uint64_t rx_clock);
void propagate_extra_data(const std::vector<Gnss_Synchro> &data);
int32_t save_matfile() const; int32_t save_matfile() const;
Obs_Conf d_conf; Obs_Conf d_conf;
@ -90,6 +93,8 @@ private:
std::vector<std::queue<GnssTime>> d_SourceTagTimestamps; std::vector<std::queue<GnssTime>> d_SourceTagTimestamps;
std::queue<GnssTime> d_TimeChannelTagTimestamps; std::queue<GnssTime> d_TimeChannelTagTimestamps;
std::queue<gr::tag_t> d_extra_data_tags;
std::vector<bool> d_channel_last_pll_lock; std::vector<bool> d_channel_last_pll_lock;
std::vector<double> d_channel_last_pseudorange_smooth; std::vector<double> d_channel_last_pseudorange_smooth;
std::vector<double> d_channel_last_carrier_phase_rads; std::vector<double> d_channel_last_carrier_phase_rads;