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

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Carles Fernandez 2018-03-03 02:17:22 +01:00
commit ad7989e6a5
911 changed files with 36949 additions and 34583 deletions
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97
.clang-format Normal file
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@ -0,0 +1,97 @@
---
Language: Cpp
# BasedOnStyle: Google
# More info: http://clang.llvm.org/docs/ClangFormatStyleOptions.html
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AlwaysBreakAfterReturnType: None
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AlwaysBreakTemplateDeclarations: false
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BreakBeforeBinaryOperators: None
BreakBeforeBraces: GNU
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CommentPragmas: '^ IWYU pragma:'
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DerivePointerAlignment: true
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeCategories:
- Regex: '^<.*\.h>'
Priority: 1
- Regex: '^<.*'
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IncludeIsMainRegex: '([-_](test|unittest))?$'
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...

8
README.md
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@ -84,7 +84,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
boost-date-time boost-system boost-filesystem boost-thread boost-chrono \ boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \ boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \ blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
glog-devel gnutls-devel openssl-devel python-mako python-six glog-devel openssl-devel python-mako python-six
~~~~~~ ~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux). Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -101,7 +101,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
hdf5-devel cmake git boost-devel boost-date-time boost-system \ hdf5-devel cmake git boost-devel boost-date-time boost-system \
boost-filesystem boost-thread boost-chrono boost-serialization \ boost-filesystem boost-thread boost-chrono boost-serialization \
log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \ log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
armadillo-devel gnutls-devel openssl-devel python-mako python-six armadillo-devel openssl-devel python-mako python-six
~~~~~~ ~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux). Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -244,11 +244,11 @@ changing `/home/username/googletest-release-1.8.0/googletest` by the actual dire
#### Install the [GnuTLS library](http://www.gnutls.org/ "GnuTLS's Homepage"): #### Install the [GnuTLS](http://www.gnutls.org/ "GnuTLS's Homepage") or [OpenSSL](https://www.openssl.org/ "OpenSSL's Homepage") libraries:
~~~~~~ ~~~~~~
$ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint $ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint
$ sudo yum install libgnutls-openssl-devel # For Fedora/CentOS/RHEL $ sudo yum install openssl-devel # For Fedora/CentOS/RHEL
~~~~~~ ~~~~~~
In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL. In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL.

160
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -44,8 +44,7 @@ using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role, std::string role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams) : unsigned int out_streams) : role_(role),
role_(role),
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
@ -71,27 +70,27 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// RINEX version // RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3); int rinex_version = configuration->property(role + ".rinex_version", 3);
if ( FLAGS_RINEX_version.compare("3.01") == 0 ) if (FLAGS_RINEX_version.compare("3.01") == 0)
{ {
rinex_version = 3; rinex_version = 3;
} }
else if ( FLAGS_RINEX_version.compare("3.02") == 0 ) else if (FLAGS_RINEX_version.compare("3.02") == 0)
{ {
rinex_version = 3; rinex_version = 3;
} }
else if ( FLAGS_RINEX_version.compare("3") == 0 ) else if (FLAGS_RINEX_version.compare("3") == 0)
{ {
rinex_version = 3; rinex_version = 3;
} }
else if ( FLAGS_RINEX_version.compare("2.11") == 0 ) else if (FLAGS_RINEX_version.compare("2.11") == 0)
{ {
rinex_version = 2; rinex_version = 2;
} }
else if ( FLAGS_RINEX_version.compare("2.10") == 0 ) else if (FLAGS_RINEX_version.compare("2.10") == 0)
{ {
rinex_version = 2; rinex_version = 2;
} }
else if ( FLAGS_RINEX_version.compare("2") == 0 ) else if (FLAGS_RINEX_version.compare("2") == 0)
{ {
rinex_version = 2; rinex_version = 2;
} }
@ -110,7 +109,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms; std::map<int, int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms; rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms; rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms; rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
@ -184,47 +183,47 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// *******************WARNING!!!!!!!*********** // *******************WARNING!!!!!!!***********
// GPS L5 only configurable for single frequency, single system at the moment!!!!!! // GPS L5 only configurable for single frequency, single system at the moment!!!!!!
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8; //if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
//RTKLIB PVT solver options //RTKLIB PVT solver options
// Settings 1 // Settings 1
int positioning_mode = -1; int positioning_mode = -1;
std::string default_pos_mode("Single"); std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE; if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if(positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC; if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if(positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA; if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if(positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC; if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if(positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA; if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if( positioning_mode == -1 ) 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 << "WARNING: Bad specification of positioning mode." << std::endl;
@ -237,19 +236,19 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int num_bands = 0; int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1; if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) ) num_bands = 2; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0)) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */ 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) ) 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; number_of_frequencies = num_bands;
} }
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0); double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) ) 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"; LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
@ -257,7 +256,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */ int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if( (dynamics_model < 0) || (dynamics_model > 2) ) 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)"; LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
@ -267,13 +266,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_iono_model("OFF"); std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1; int iono_model = -1;
if(iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF; if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if(iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC; if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if(iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS; if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if(iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC; if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if(iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST; if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if(iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC; if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if( iono_model == -1 ) 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 << "WARNING: Bad specification of ionospheric model." << std::endl;
@ -286,12 +285,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_trop_model("OFF"); std::string default_trop_model("OFF");
int trop_model = -1; int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF; if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if(trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS; if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if(trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS; if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if(trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST; if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if(trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG; if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if( trop_model == -1 ) 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 << "WARNING: Bad specification of tropospheric model." << std::endl;
@ -324,7 +323,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL; if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
if ((glo_1G_count > 0)) nsys += SYS_GLO; if ((glo_1G_count > 0)) nsys += SYS_GLO;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ 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 */ 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)"; LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
@ -335,12 +334,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_gps_ar("Continuous"); std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1; int integer_ambiguity_resolution_gps = -1;
if(integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF; if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if(integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT; if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if(integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST; if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if(integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD; if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if(integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR; if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if( integer_ambiguity_resolution_gps == -1 ) 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 << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
@ -351,7 +350,7 @@ RtklibPvt::RtklibPvt(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) */ 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) ) 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)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
@ -359,7 +358,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */ 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) ) 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)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
@ -415,9 +414,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = { {}, {{},{}} }; snrmask_t snrmask = {{}, {{}, {}}};
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ prcopt_t rtklib_configuration_options = {
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */ 0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/ number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
navigation_system, /* navigation system */ navigation_system, /* navigation system */
@ -444,12 +444,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
0, /* base position for relative mode */ 0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */ /* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */ /* 2:read from file, 3:rinex header, 4:rtcm pos */
{code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ {bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */ {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */ 5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{min_ratio_to_fix_ambiguity,0.9999,0.25,0.1,0.05,0.0,0.0,0.0}, /* thresar[8]: AR validation threshold */ {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */ min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */ 0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */ slip_threshold, /* slip threshold of geometry-free phase (m) */
@ -459,18 +459,18 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */ {}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */ {}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */ {}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */ {"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{},{}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */ {{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */ {}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */ {}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */ 0, /* max averaging epoches */
0, /* initialize by restart */ 0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */ 1, /* output single by dgps/float/fix/ppp outage */
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */ {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV,rec_PCV,phwindup,reject_GPS_IIA,raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */ 0, /* solution sync mode (0:off,1:on) */
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
}; };
@ -486,7 +486,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
bool RtklibPvt::save_assistance_to_XML() bool RtklibPvt::save_assistance_to_XML()
{ {
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_; LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map(); std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0) if (eph_map.size() > 0)
{ {
@ -498,7 +498,7 @@ bool RtklibPvt::save_assistance_to_XML()
ofs.close(); ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data"; LOG(INFO) << "Saved GPS L1 Ephemeris map data";
} }
catch (const std::exception & e) catch (const std::exception& e)
{ {
LOG(WARNING) << e.what(); LOG(WARNING) << e.what();
return false; return false;
@ -522,7 +522,9 @@ RtklibPvt::~RtklibPvt()
void RtklibPvt::connect(gr::top_block_sptr top_block) void RtklibPvt::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally // Nothing to connect internally
DLOG(INFO) << "nothing to connect internally"; DLOG(INFO) << "nothing to connect internally";
} }
@ -530,7 +532,9 @@ void RtklibPvt::connect(gr::top_block_sptr top_block)
void RtklibPvt::disconnect(gr::top_block_sptr top_block) void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect // Nothing to disconnect
} }

1
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -29,7 +29,6 @@
*/ */
#ifndef GNSS_SDR_RTKLIB_PVT_H_ #ifndef GNSS_SDR_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_ #define GNSS_SDR_RTKLIB_PVT_H_

473
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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File diff suppressed because it is too large Load Diff

27
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
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@ -65,10 +65,10 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
/*! /*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
@ -89,10 +89,10 @@ private:
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg); void msg_handler_telemetry(pmt::pmt_t msg);
@ -136,16 +136,17 @@ private:
double last_RINEX_nav_output_time; double last_RINEX_nav_output_time;
std::shared_ptr<rtklib_solver> d_ls_pvt; std::shared_ptr<rtklib_solver> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b); bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
unsigned int type_of_rx; unsigned int type_of_rx;
bool first_fix; bool first_fix;
key_t sysv_msg_key; key_t sysv_msg_key;
int sysv_msqid; int sysv_msqid;
typedef struct { typedef struct
long mtype;//required by sys v message {
long mtype; //required by sys v message
double ttff; double ttff;
} ttff_msgbuf; } ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff); bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
@ -164,22 +165,22 @@ public:
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
/*! /*!
* \brief Get latest set of GPS L1 ephemeris from PVT block * \brief Get latest set of GPS L1 ephemeris from PVT block
* *
* It is used to save the assistance data at the receiver shutdown * It is used to save the assistance data at the receiver shutdown
*/ */
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map(); std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~rtklib_pvt_cc(); //!< Default destructor ~rtklib_pvt_cc(); //!< Default destructor
int work (int noutput_items, gr_vector_const_void_star &input_items, int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); //!< PVT Signal Processing gr_vector_void_star& output_items); //!< PVT Signal Processing
}; };
#endif #endif

16
src/algorithms/PVT/libs/geojson_printer.cc
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@ -43,7 +43,7 @@ GeoJSON_Printer::GeoJSON_Printer()
} }
GeoJSON_Printer::~GeoJSON_Printer () GeoJSON_Printer::~GeoJSON_Printer()
{ {
GeoJSON_Printer::close_file(); GeoJSON_Printer::close_file();
} }
@ -60,31 +60,31 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
@ -184,7 +184,7 @@ bool GeoJSON_Printer::close_file()
// if nothing is written, erase the file // if nothing is written, erase the file
if (first_pos == true) if (first_pos == true)
{ {
if(remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; if (remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
} }
return true; return true;
@ -194,5 +194,3 @@ bool GeoJSON_Printer::close_file()
return false; return false;
} }
} }

1
src/algorithms/PVT/libs/geojson_printer.h
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@ -50,6 +50,7 @@ private:
std::ofstream geojson_file; std::ofstream geojson_file;
bool first_pos; bool first_pos;
std::string filename_; std::string filename_;
public: public:
GeoJSON_Printer(); GeoJSON_Printer();
~GeoJSON_Printer(); ~GeoJSON_Printer();

55
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -54,11 +54,11 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
{ {
try try
{ {
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
@ -75,7 +75,7 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
@ -83,12 +83,12 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
} }
bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging) bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
arma::vec W; // channels weight vector arma::vec W; // channels weight vector
arma::vec obs; // pseudoranges observation vector arma::vec obs; // pseudoranges observation vector
@ -111,11 +111,11 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// ******************************************************************************** // ********************************************************************************
int valid_obs = 0; //valid observations counter int valid_obs = 0; //valid observations counter
for(gnss_observables_iter = gnss_observables_map.begin(); for (gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter != gnss_observables_map.end();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{ {
case 'E': case 'E':
{ {
@ -174,7 +174,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
{ {
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0) if (sig_.compare("1C") == 0)
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end()) if (gps_ephemeris_iter != gps_ephemeris_map.end())
@ -206,18 +206,18 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// 4- fill the observations vector with the corrected pseudoranges // 4- fill the observations vector with the corrected pseudoranges
// compute code bias: TGD for single frequency // compute code bias: TGD for single frequency
// See IS-GPS-200E section 20.3.3.3.3.2 // See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma=GPS_L1_FREQ_HZ/GPS_L2_FREQ_HZ; double sqrt_Gamma = GPS_L1_FREQ_HZ / GPS_L2_FREQ_HZ;
double Gamma=sqrt_Gamma*sqrt_Gamma; double Gamma = sqrt_Gamma * sqrt_Gamma;
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s); double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_m_s);
double Code_bias_m= P1_P2/(1.0-Gamma); double Code_bias_m = P1_P2 / (1.0 - Gamma);
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-this->get_time_offset_s() * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
<< " TX Time corrected="<<TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X << " TX Time corrected=" << TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]"; << " [m] PR_obs=" << obs(valid_obs) << " [m]";
@ -231,7 +231,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
} }
} }
if(sig_.compare("2S") == 0) if (sig_.compare("2S") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
@ -263,16 +263,16 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr*GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week; GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
GPS_week=GPS_week%1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV) GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
<< " TX Time corrected="<<TX_time_corrected_s << " TX Time corrected=" << TX_time_corrected_s
<< " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X << " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z
@ -287,7 +287,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
} }
break; break;
} }
default : default:
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
} }
@ -300,7 +300,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs; LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
if(valid_obs >= 4) if (valid_obs >= 4)
{ {
arma::vec rx_position_and_time; arma::vec rx_position_and_time;
DLOG(INFO) << "satpos=" << satpos; DLOG(INFO) << "satpos=" << satpos;
@ -328,7 +328,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]"; DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
// Compute GST and Gregorian time // Compute GST and Gregorian time
if( GST != 0.0) if (GST != 0.0)
{ {
utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number); utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
} }
@ -347,13 +347,14 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
<< " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// ###### Compute DOPs ######## // ###### Compute DOPs ########
hybrid_ls_pvt::compute_DOP(); hybrid_ls_pvt::compute_DOP();
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
@ -393,7 +394,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
this->perform_pos_averaging(); this->perform_pos_averaging();
} }
catch(const std::exception & e) catch (const std::exception& e)
{ {
this->set_time_offset_s(0.0); //reset rx time estimation this->set_time_offset_s(0.0); //reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what(); LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();

11
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -54,15 +54,16 @@ private:
std::ofstream d_dump_file; std::ofstream d_dump_file;
int d_nchannels; // Number of available channels for positioning int d_nchannels; // Number of available channels for positioning
double d_galileo_current_time; double d_galileo_current_time;
public: public:
hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file); hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
~hybrid_ls_pvt(); ~hybrid_ls_pvt();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;

23
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -47,31 +47,31 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
@ -124,7 +124,6 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
} }
bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values) bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
{ {
double latitude; double latitude;
@ -164,7 +163,6 @@ bool Kml_Printer::close_file()
{ {
if (kml_file.is_open()) if (kml_file.is_open())
{ {
kml_file << "</coordinates>" << std::endl kml_file << "</coordinates>" << std::endl
<< "</LineString>" << std::endl << "</LineString>" << std::endl
<< "</Placemark>" << std::endl << "</Placemark>" << std::endl
@ -180,20 +178,17 @@ bool Kml_Printer::close_file()
} }
Kml_Printer::Kml_Printer()
Kml_Printer::Kml_Printer ()
{ {
positions_printed = false; positions_printed = false;
} }
Kml_Printer::~Kml_Printer()
Kml_Printer::~Kml_Printer ()
{ {
close_file(); close_file();
if(!positions_printed) if (!positions_printed)
{ {
if(remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file"; if (remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file";
} }
} }

1
src/algorithms/PVT/libs/kml_printer.h
View File

@ -50,6 +50,7 @@ private:
std::ofstream kml_file; std::ofstream kml_file;
bool positions_printed; bool positions_printed;
std::string kml_filename; std::string kml_filename;
public: public:
Kml_Printer(); Kml_Printer();
~Kml_Printer(); ~Kml_Printer();

67
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -41,7 +41,6 @@ using google::LogMessage;
Ls_Pvt::Ls_Pvt() : Pvt_Solution() Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{ {
} }
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
@ -70,7 +69,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
// 6995655.459 -23537808.269 -9927906.485 24222112.972 ]; // 6995655.459 -23537808.269 -9927906.485 24222112.972 ];
// Solution: 596902.683 -4847843.316 4088216.740 // Solution: 596902.683 -4847843.316 4088216.740
arma::vec pos = arma::zeros(4,1); arma::vec pos = arma::zeros(4, 1);
arma::mat B_pass = arma::zeros(obs.size(), 4); arma::mat B_pass = arma::zeros(obs.size(), 4);
B_pass.submat(0, 0, obs.size() - 1, 2) = satpos; B_pass.submat(0, 0, obs.size() - 1, 2) = satpos;
B_pass.col(3) = obs; B_pass.col(3) = obs;
@ -81,27 +80,27 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
for (int iter = 0; iter < 2; iter++) for (int iter = 0; iter < 2; iter++)
{ {
B = B_pass; B = B_pass;
int m = arma::size(B,0); int m = arma::size(B, 0);
for (int i = 0; i < m; i++) for (int i = 0; i < m; i++)
{ {
int x = B(i,0); int x = B(i, 0);
int y = B(i,1); int y = B(i, 1);
if (iter == 0) if (iter == 0)
{ {
traveltime = 0.072; traveltime = 0.072;
} }
else else
{ {
int z = B(i,2); int z = B(i, 2);
double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2)); double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
traveltime = sqrt(rho) / GPS_C_m_s; traveltime = sqrt(rho) / GPS_C_m_s;
} }
double angle = traveltime * 7.292115147e-5; double angle = traveltime * 7.292115147e-5;
double cosa = cos(angle); double cosa = cos(angle);
double sina = sin(angle); double sina = sin(angle);
B(i,0) = cosa * x + sina * y; B(i, 0) = cosa * x + sina * y;
B(i,1) = -sina * x + cosa * y; B(i, 1) = -sina * x + cosa * y;
}// % i-loop } // % i-loop
if (m > 3) if (m > 3)
{ {
@ -111,8 +110,8 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
BBB = arma::inv(B); BBB = arma::inv(B);
} }
arma::vec e = arma::ones(m,1); arma::vec e = arma::ones(m, 1);
arma::vec alpha = arma::zeros(m,1); arma::vec alpha = arma::zeros(m, 1);
for (int i = 0; i < m; i++) for (int i = 0; i < m; i++)
{ {
alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0; alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
@ -124,20 +123,20 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
double c = lorentz(BBBalpha, BBBalpha); double c = lorentz(BBBalpha, BBBalpha);
double root = sqrt(b * b - a * c); double root = sqrt(b * b - a * c);
arma::vec r = {(-b - root) / a, (-b + root) / a}; arma::vec r = {(-b - root) / a, (-b + root) / a};
arma::mat possible_pos = arma::zeros(4,2); arma::mat possible_pos = arma::zeros(4, 2);
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
possible_pos.col(i) = r(i) * BBBe + BBBalpha; possible_pos.col(i) = r(i) * BBBe + BBBalpha;
possible_pos(3,i) = -possible_pos(3,i); possible_pos(3, i) = -possible_pos(3, i);
} }
arma::vec abs_omc = arma::zeros(2,1); arma::vec abs_omc = arma::zeros(2, 1);
for (int j = 0; j < m; j++) for (int j = 0; j < m; j++)
{ {
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
double c_dt = possible_pos(3,i); double c_dt = possible_pos(3, i);
double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt; double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0, 2)) + c_dt;
double omc = obs(j) - calc; double omc = obs(j) - calc;
abs_omc(i) = std::abs(omc); abs_omc(i) = std::abs(omc);
} }
@ -167,11 +166,11 @@ double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y)
// M = diag([1 1 1 -1]); // M = diag([1 1 1 -1]);
// p = x'*M*y; // p = x'*M*y;
return(x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3)); return (x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3));
} }
arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec) arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec)
{ {
/* Computes the Least Squares Solution. /* Computes the Least Squares Solution.
* Inputs: * Inputs:
@ -222,8 +221,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{ {
//--- Update equations ----------------------------------------- //--- Update equations -----------------------------------------
rho2 = (X(0, i) - pos(0)) * rho2 = (X(0, i) - pos(0)) *
(X(0, i) - pos(0)) + (X(1, i) - pos(1)) * (X(0, i) - pos(0)) +
(X(1, i) - pos(1)) + (X(2, i) - pos(2)) * (X(1, i) - pos(1)) *
(X(1, i) - pos(1)) +
(X(2, i) - pos(2)) *
(X(2, i) - pos(2)); (X(2, i) - pos(2));
traveltime = sqrt(rho2) / GPS_C_m_s; traveltime = sqrt(rho2) / GPS_C_m_s;
@ -231,15 +232,15 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
//--- Find DOA and range of satellites //--- Find DOA and range of satellites
double * azim = 0; double* azim = 0;
double * elev = 0; double* elev = 0;
double * dist = 0; double* dist = 0;
Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0,2), Rot_X - pos.subvec(0, 2)); Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
this->set_visible_satellites_Az(i, *azim); this->set_visible_satellites_Az(i, *azim);
this->set_visible_satellites_El(i, *elev); this->set_visible_satellites_El(i, *elev);
this->set_visible_satellites_Distance(i, *dist); this->set_visible_satellites_Distance(i, *dist);
if(traveltime < 0.1 && nmbOfSatellites > 3) if (traveltime < 0.1 && nmbOfSatellites > 3)
{ {
//--- Find receiver's height //--- Find receiver's height
Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2)); Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
@ -253,7 +254,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{ {
//--- Find delay due to troposphere (in meters) //--- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0); Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 5.0 ) trop = 0.0; //check for erratic values if (trop > 5.0) trop = 0.0; //check for erratic values
} }
} }
} }
@ -262,18 +263,18 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
//--- Construct the A matrix --------------------------------------- //--- Construct the A matrix ---------------------------------------
//Armadillo //Armadillo
A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i); A(i, 0) = (-(Rot_X(0) - pos(0))) / obs(i);
A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i); A(i, 1) = (-(Rot_X(1) - pos(1))) / obs(i);
A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i); A(i, 2) = (-(Rot_X(2) - pos(2))) / obs(i);
A(i,3) = 1.0; A(i, 3) = 1.0;
} }
//--- Find position update --------------------------------------------- //--- Find position update ---------------------------------------------
x = arma::solve(w*A, w*omc); // Armadillo x = arma::solve(w * A, w * omc); // Armadillo
//--- Apply position update -------------------------------------------- //--- Apply position update --------------------------------------------
pos = pos + x; pos = pos + x;
if (arma::norm(x,2) < 1e-4) if (arma::norm(x, 2) < 1e-4)
{ {
break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm) break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
} }
@ -290,5 +291,3 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
} }
return pos; return pos;
} }

8
src/algorithms/PVT/libs/ls_pvt.h
View File

@ -45,20 +45,20 @@ private:
/*! /*!
* \brief Computes the Lorentz inner product between two vectors * \brief Computes the Lorentz inner product between two vectors
*/ */
double lorentz(const arma::vec & x,const arma::vec & y); double lorentz(const arma::vec& x, const arma::vec& y);
public: public:
Ls_Pvt(); Ls_Pvt();
/*! /*!
* \brief Computes the initial position solution based on the Bancroft algorithm * \brief Computes the initial position solution based on the Bancroft algorithm
*/ */
arma::vec bancroftPos(const arma::mat & satpos, const arma::vec & obs); arma::vec bancroftPos(const arma::mat& satpos, const arma::vec& obs);
/*! /*!
* \brief Computes the Weighted Least Squares position solution * \brief Computes the Weighted Least Squares position solution
*/ */
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec); arma::vec leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec);
}; };
#endif #endif

44
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -79,7 +79,7 @@ Nmea_Printer::~Nmea_Printer()
} }
int Nmea_Printer::init_serial (std::string serial_device) int Nmea_Printer::init_serial(std::string serial_device)
{ {
/*! /*!
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1) * Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
@ -95,7 +95,7 @@ int Nmea_Printer::init_serial (std::string serial_device)
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; //failed to open TTY port if (fd == -1) return fd; //failed to open TTY port
if(fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
@ -116,7 +116,7 @@ int Nmea_Printer::init_serial (std::string serial_device)
} }
void Nmea_Printer::close_serial () void Nmea_Printer::close_serial()
{ {
if (nmea_dev_descriptor != -1) if (nmea_dev_descriptor != -1)
{ {
@ -159,30 +159,31 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Pvt_Solution>& pvt_data
//GPGSV //GPGSV
nmea_file_descriptor << GPGSV; nmea_file_descriptor << GPGSV;
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();; DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();
;
} }
//write to serial device //write to serial device
if (nmea_dev_descriptor!=-1) if (nmea_dev_descriptor != -1)
{ {
if(write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length()) == -1) if (write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length()) == -1) if (write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length()) == -1) if (write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length()) == -1) if (write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
@ -211,7 +212,7 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
if (lat < 0.0) if (lat < 0.0)
{ {
north = false; north = false;
lat = -lat ; lat = -lat;
} }
else else
{ {
@ -220,7 +221,7 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
int deg = static_cast<int>(lat); int deg = static_cast<int>(lat);
double mins = lat - static_cast<double>(deg); double mins = lat - static_cast<double>(deg);
mins *= 60.0 ; mins *= 60.0;
std::ostringstream out_string; std::ostringstream out_string;
out_string.setf(std::ios::fixed, std::ios::floatfield); out_string.setf(std::ios::fixed, std::ios::floatfield);
out_string.fill('0'); out_string.fill('0');
@ -249,7 +250,7 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
if (longitude < 0.0) if (longitude < 0.0)
{ {
east = false; east = false;
longitude = -longitude ; longitude = -longitude;
} }
else else
{ {
@ -257,7 +258,7 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
} }
int deg = static_cast<int>(longitude); int deg = static_cast<int>(longitude);
double mins = longitude - static_cast<double>(deg); double mins = longitude - static_cast<double>(deg);
mins *= 60.0 ; mins *= 60.0;
std::ostringstream out_string; std::ostringstream out_string;
out_string.setf(std::ios::fixed, std::ios::floatfield); out_string.setf(std::ios::fixed, std::ios::floatfield);
out_string.width(3); out_string.width(3);
@ -294,7 +295,7 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
utc_hours = td.hours(); utc_hours = td.hours();
utc_mins = td.minutes(); utc_mins = td.minutes();
utc_seconds = td.seconds(); utc_seconds = td.seconds();
utc_milliseconds = td.total_milliseconds() - td.total_seconds()*1000; utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000;
if (utc_hours < 10) sentence_str << "0"; // two digits for hours if (utc_hours < 10) sentence_str << "0"; // two digits for hours
sentence_str << utc_hours; sentence_str << utc_hours;
@ -450,7 +451,7 @@ std::string Nmea_Printer::get_GPGSA()
// 1 fix not available // 1 fix not available
// 2 fix 2D // 2 fix 2D
// 3 fix 3D // 3 fix 3D
if (valid_fix==true) if (valid_fix == true)
{ {
sentence_str << ",3"; sentence_str << ",3";
} }
@ -460,7 +461,7 @@ std::string Nmea_Printer::get_GPGSA()
}; };
// Used satellites // Used satellites
for (int i=0; i<12; i++) for (int i = 0; i < 12; i++)
{ {
sentence_str << ","; sentence_str << ",";
if (i < n_sats_used) if (i < n_sats_used)
@ -479,7 +480,7 @@ std::string Nmea_Printer::get_GPGSA()
sentence_str.fill('0'); sentence_str.fill('0');
sentence_str << pdop; sentence_str << pdop;
//HDOP //HDOP
sentence_str<<","; sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield); sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2); sentence_str.width(2);
sentence_str.precision(1); sentence_str.precision(1);
@ -528,7 +529,7 @@ std::string Nmea_Printer::get_GPGSV()
// generate the frames // generate the frames
int current_satellite = 0; int current_satellite = 0;
for (int i=1; i<(n_frames+1); i++) for (int i = 1; i < (n_frames + 1); i++)
{ {
frame_str.str(""); frame_str.str("");
frame_str << sentence_header; frame_str << sentence_header;
@ -547,7 +548,7 @@ std::string Nmea_Printer::get_GPGSV()
frame_str << std::dec << n_sats_used; frame_str << std::dec << n_sats_used;
//satellites info //satellites info
for (int j=0; j<4; j++) for (int j = 0; j < 4; j++)
{ {
// write satellite info // write satellite info
frame_str << ","; frame_str << ",";
@ -601,7 +602,7 @@ std::string Nmea_Printer::get_GPGGA()
{ {
//boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time(); //boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
bool valid_fix = d_PVT_data->is_valid_position(); bool valid_fix = d_PVT_data->is_valid_position();
int n_channels = d_PVT_data->get_num_valid_observations();//d_nchannels int n_channels = d_PVT_data->get_num_valid_observations(); //d_nchannels
double hdop = d_PVT_data->get_HDOP(); double hdop = d_PVT_data->get_HDOP();
double MSL_altitude; double MSL_altitude;
@ -708,4 +709,3 @@ std::string Nmea_Printer::get_GPGGA()
return sentence_str.str(); return sentence_str.str();
//$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A //$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A
} }

122
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -55,11 +55,11 @@ Pvt_Solution::Pvt_Solution()
b_valid_position = false; b_valid_position = false;
d_averaging_depth = 0; d_averaging_depth = 0;
d_valid_observations = 0; d_valid_observations = 0;
d_rx_pos = arma::zeros(3,1); d_rx_pos = arma::zeros(3, 1);
d_rx_dt_s = 0.0; d_rx_dt_s = 0.0;
} }
arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec & X_sat) arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
{ {
/* /*
* Returns rotated satellite ECEF coordinates due to Earth * Returns rotated satellite ECEF coordinates due to Earth
@ -78,7 +78,7 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
omegatau = OMEGA_EARTH_DOT * traveltime; omegatau = OMEGA_EARTH_DOT * traveltime;
//--- Build a rotation matrix ---------------------------------------------- //--- Build a rotation matrix ----------------------------------------------
arma::mat R3 = arma::zeros(3,3); arma::mat R3 = arma::zeros(3, 3);
R3(0, 0) = cos(omegatau); R3(0, 0) = cos(omegatau);
R3(0, 1) = sin(omegatau); R3(0, 1) = sin(omegatau);
R3(0, 2) = 0.0; R3(0, 2) = 0.0;
@ -125,7 +125,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
{ {
oldh = h; oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi))); N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) )))); phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
h = sqrt(X * X + Y * Y) / cos(phi) - N; h = sqrt(X * X + Y * Y) / cos(phi) - N;
iterations = iterations + 1; iterations = iterations + 1;
if (iterations > 100) if (iterations > 100)
@ -205,7 +205,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
double sinphi; double sinphi;
if (r > 1.0E-20) if (r > 1.0E-20)
{ {
sinphi = Z/r; sinphi = Z / r;
} }
else else
{ {
@ -221,7 +221,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
return 1; return 1;
} }
*h = r - a * (1 - sinphi * sinphi/finv); *h = r - a * (1 - sinphi * sinphi / finv);
// iterate // iterate
double cosphi; double cosphi;
@ -244,7 +244,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
// update height and latitude // update height and latitude
*h = *h + (sinphi * dZ + cosphi * dP); *h = *h + (sinphi * dZ + cosphi * dP);
*dphi = *dphi + (cosphi * dZ - sinphi * dP)/(N_phi + (*h)); *dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
// test for convergence // test for convergence
if ((dP * dP + dZ * dZ) < tolsq) if ((dP * dP + dZ * dZ) < tolsq)
@ -299,7 +299,10 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
double tkelp = tksea + tlapse * hp_km; double tkelp = tksea + tlapse * hp_km;
double psea = p_mb * pow((tksea / tkelp), em); double psea = p_mb * pow((tksea / tkelp), em);
if(sinel < 0) { sinel = 0.0; } if (sinel < 0)
{
sinel = 0.0;
}
double tropo_delay = 0.0; double tropo_delay = 0.0;
bool done = false; bool done = false;
@ -312,34 +315,36 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
double b; double b;
double rtop; double rtop;
while(1) while (1)
{ {
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2)); rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
// check to see if geometry is crazy // check to see if geometry is crazy
if(rtop < 0) { rtop = 0; } if (rtop < 0)
{
rtop = 0;
}
rtop = sqrt(rtop) - (a_e + hsta_km) * sinel; rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
a = -sinel / (htop - hsta_km); a = -sinel / (htop - hsta_km);
b = -b0 * (1 - pow(sinel,2)) / (htop - hsta_km); b = -b0 * (1 - pow(sinel, 2)) / (htop - hsta_km);
arma::vec rn = arma::vec(8); arma::vec rn = arma::vec(8);
rn.zeros(); rn.zeros();
for(int i = 0; i<8; i++) for (int i = 0; i < 8; i++)
{ {
rn(i) = pow(rtop, (i+1+1)); rn(i) = pow(rtop, (i + 1 + 1));
} }
arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b), arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b / 3, a * (pow(a, 2) + 3 * b),
pow(a, 4)/5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b)/3, pow(a, 4) / 5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b) / 3,
pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0}; pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
if(pow(b, 2) > 1.0e-35) if (pow(b, 2) > 1.0e-35)
{ {
alpha(6) = a * pow(b, 3) /2; alpha(6) = a * pow(b, 3) / 2;
alpha(7) = pow(b, 4) / 9; alpha(7) = pow(b, 4) / 9;
} }
@ -348,7 +353,7 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
dr = dr + aux_(0, 0); dr = dr + aux_(0, 0);
tropo_delay = tropo_delay + dr * ref * 1000; tropo_delay = tropo_delay + dr * ref * 1000;
if(done == true) if (done == true)
{ {
*ddr_m = tropo_delay; *ddr_m = tropo_delay;
break; break;
@ -363,7 +368,7 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
} }
int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx) int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{ {
/* Transformation of vector dx into topocentric coordinate /* Transformation of vector dx into topocentric coordinate
system with origin at x system with origin at x
@ -394,19 +399,19 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
double cb = cos(phi * dtr); double cb = cos(phi * dtr);
double sb = sin(phi * dtr); double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3,3); arma::mat F = arma::zeros(3, 3);
F(0,0) = -sl; F(0, 0) = -sl;
F(0,1) = -sb * cl; F(0, 1) = -sb * cl;
F(0,2) = cb * cl; F(0, 2) = cb * cl;
F(1,0) = cl; F(1, 0) = cl;
F(1,1) = -sb * sl; F(1, 1) = -sb * sl;
F(1,2) = cb * sl; F(1, 2) = cb * sl;
F(2,0) = 0; F(2, 0) = 0;
F(2,1) = cb; F(2, 1) = cb;
F(2,2) = sb; F(2, 2) = sb;
arma::vec local_vector; arma::vec local_vector;
@ -440,25 +445,24 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
} }
int Pvt_Solution::compute_DOP() int Pvt_Solution::compute_DOP()
{ {
// ###### Compute DOPs ######## // ###### Compute DOPs ########
// 1- Rotation matrix from ECEF coordinates to ENU coordinates // 1- Rotation matrix from ECEF coordinates to ENU coordinates
// ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates
arma::mat F = arma::zeros(3,3); arma::mat F = arma::zeros(3, 3);
F(0,0) = -sin(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 0) = -sin(GPS_TWO_PI * (d_longitude_d / 360.0));
F(0,1) = -sin(GPS_TWO_PI * (d_latitude_d/360.0)) * cos(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 1) = -sin(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0));
F(0,2) = cos(GPS_TWO_PI * (d_latitude_d/360.0)) * cos(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 2) = cos(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0));
F(1,0) = cos((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 0) = cos((GPS_TWO_PI * d_longitude_d) / 360.0);
F(1,1) = -sin((GPS_TWO_PI * d_latitude_d)/360.0) * sin((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 1) = -sin((GPS_TWO_PI * d_latitude_d) / 360.0) * sin((GPS_TWO_PI * d_longitude_d) / 360.0);
F(1,2) = cos((GPS_TWO_PI * d_latitude_d/360.0)) * sin((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 2) = cos((GPS_TWO_PI * d_latitude_d / 360.0)) * sin((GPS_TWO_PI * d_longitude_d) / 360.0);
F(2,0) = 0; F(2, 0) = 0;
F(2,1) = cos((GPS_TWO_PI * d_latitude_d)/360.0); F(2, 1) = cos((GPS_TWO_PI * d_latitude_d) / 360.0);
F(2,2) = sin((GPS_TWO_PI * d_latitude_d/360.0)); F(2, 2) = sin((GPS_TWO_PI * d_latitude_d / 360.0));
// 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS) // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS)
arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2); arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2);
@ -468,12 +472,12 @@ int Pvt_Solution::compute_DOP()
{ {
DOP_ENU = arma::htrans(F) * Q_ECEF * F; DOP_ENU = arma::htrans(F) * Q_ECEF * F;
d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP
d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2));// PDOP d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2)); // PDOP
d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP
d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP
d_TDOP = sqrt(d_Q(3, 3)); // TDOP d_TDOP = sqrt(d_Q(3, 3)); // TDOP
} }
catch(const std::exception & ex) catch (const std::exception &ex)
{ {
d_GDOP = -1; // Geometric DOP d_GDOP = -1; // Geometric DOP
d_PDOP = -1; // PDOP d_PDOP = -1; // PDOP
@ -614,7 +618,7 @@ void Pvt_Solution::set_valid_position(bool is_valid)
} }
void Pvt_Solution::set_rx_pos(const arma::vec & pos) void Pvt_Solution::set_rx_pos(const arma::vec &pos)
{ {
d_rx_pos = pos; d_rx_pos = pos;
d_latitude_d = d_rx_pos(0); d_latitude_d = d_rx_pos(0);
@ -635,7 +639,7 @@ boost::posix_time::ptime Pvt_Solution::get_position_UTC_time() const
} }
void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime & pt) void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime &pt)
{ {
d_position_UTC_time = pt; d_position_UTC_time = pt;
} }
@ -655,14 +659,14 @@ void Pvt_Solution::set_num_valid_observations(int num)
bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn) bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
} }
else else
{ {
if(prn >= PVT_MAX_PRN) if (prn >= PVT_MAX_PRN)
{ {
LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")"; LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
return false; return false;
@ -678,7 +682,7 @@ bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0; return 0;
@ -692,21 +696,21 @@ unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
bool Pvt_Solution::set_visible_satellites_El(size_t index, double el) bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
} }
else else
{ {
if(el > 90.0) if (el > 90.0)
{ {
LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90"; LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
d_visible_satellites_El[index] = 90.0; d_visible_satellites_El[index] = 90.0;
} }
else else
{ {
if(el < -90.0) if (el < -90.0)
{ {
LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90"; LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
d_visible_satellites_El[index] = -90.0; d_visible_satellites_El[index] = -90.0;
@ -723,7 +727,7 @@ bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
double Pvt_Solution::get_visible_satellites_El(size_t index) const double Pvt_Solution::get_visible_satellites_El(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -737,7 +741,7 @@ double Pvt_Solution::get_visible_satellites_El(size_t index) const
bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az) bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -752,7 +756,7 @@ bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
double Pvt_Solution::get_visible_satellites_Az(size_t index) const double Pvt_Solution::get_visible_satellites_Az(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -766,7 +770,7 @@ double Pvt_Solution::get_visible_satellites_Az(size_t index) const
bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist) bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -781,7 +785,7 @@ bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
double Pvt_Solution::get_visible_satellites_Distance(size_t index) const double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -795,7 +799,7 @@ double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0) bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -810,7 +814,7 @@ bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -822,7 +826,7 @@ double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
} }
void Pvt_Solution::set_Q(const arma::mat & Q) void Pvt_Solution::set_Q(const arma::mat &Q)
{ {
d_Q = Q; d_Q = Q;
} }

10
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -97,14 +97,14 @@ public:
double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg] double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
double get_avg_height() const; //!< Get RX position averaged height WGS84 [m] double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
void set_rx_pos(const arma::vec & pos); //!< Set position: Latitude [deg], longitude [deg], height [m] void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
arma::vec get_rx_pos() const; arma::vec get_rx_pos() const;
bool is_valid_position() const; bool is_valid_position() const;
void set_valid_position(bool is_valid); void set_valid_position(bool is_valid);
boost::posix_time::ptime get_position_UTC_time() const; boost::posix_time::ptime get_position_UTC_time() const;
void set_position_UTC_time(const boost::posix_time::ptime & pt); void set_position_UTC_time(const boost::posix_time::ptime &pt);
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites) int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites) void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
@ -131,7 +131,7 @@ public:
void set_averaging_flag(bool flag); void set_averaging_flag(bool flag);
// DOP estimations // DOP estimations
void set_Q(const arma::mat & Q); void set_Q(const arma::mat &Q);
int compute_DOP(); //!< Compute Dilution Of Precision parameters int compute_DOP(); //!< Compute Dilution Of Precision parameters
double get_GDOP() const; double get_GDOP() const;
@ -140,7 +140,7 @@ public:
double get_VDOP() const; double get_VDOP() const;
double get_TDOP() const; double get_TDOP() const;
arma::vec rotateSatellite(double traveltime, const arma::vec & X_sat); arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
/*! /*!
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
@ -171,7 +171,7 @@ public:
* *
* Based on a Matlab function by Kai Borre * Based on a Matlab function by Kai Borre
*/ */
int topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx); int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/*! /*!
* \brief Subroutine to calculate geodetic coordinates latitude, longitude, * \brief Subroutine to calculate geodetic coordinates latitude, longitude,

1005
src/algorithms/PVT/libs/rinex_printer.cc
View File

File diff suppressed because it is too large Load Diff

193
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -85,122 +85,122 @@ public:
*/ */
~Rinex_Printer(); ~Rinex_Printer();
std::fstream obsFile ; //<! Output file stream for RINEX observation file std::fstream obsFile; //<! Output file stream for RINEX observation file
std::fstream navFile ; //<! Output file stream for RINEX navigation data file std::fstream navFile; //<! Output file stream for RINEX navigation data file
std::fstream sbsFile ; //<! Output file stream for RINEX SBAS raw data file std::fstream sbsFile; //<! Output file stream for RINEX SBAS raw data file
std::fstream navGalFile ; //<! Output file stream for RINEX Galileo navigation data file std::fstream navGalFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile ; //<! Output file stream for RINEX GLONASS navigation data file std::fstream navGloFile; //<! Output file stream for RINEX GLONASS navigation data file
std::fstream navMixFile ; //<! Output file stream for RINEX Mixed navigation data file std::fstream navMixFile; //<! Output file stream for RINEX Mixed navigation data file
/*! /*!
* \brief Generates the GPS L1 C/A Navigation Data header * \brief Generates the GPS L1 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & iono, const Gps_Utc_Model & utc_model); void rinex_nav_header(std::fstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model);
/*! /*!
* \brief Generates the GPS L2C(M) Navigation Data header * \brief Generates the GPS L2C(M) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & iono, const Gps_CNAV_Utc_Model & utc_model); void rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& iono, const Gps_CNAV_Utc_Model& utc_model);
/*! /*!
* \brief Generates the Galileo Navigation Data header * \brief Generates the Galileo Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Galileo_Iono & iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac); void rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Navigation Data header * \brief Generates the Mixed (GPS/Galileo) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac); void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the GLONASS L1, L2 C/A Navigation Data header * \brief Generates the GLONASS L1, L2 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Ephemeris & glonass_gnav_eph); void rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model, const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header * \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header * \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header * \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_iono, const Gps_CNAV_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the GPS Observation data header * \brief Generates the GPS Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the GPS L2 Observation data header * \brief Generates the GPS L2 Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the dual frequency GPS L1 & L2 Observation data header * \brief Generates the dual frequency GPS L1 & L2 Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B". * \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1B"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1B");
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B");
/*! /*!
* \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C". * \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
*/ */
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1G"); void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1G");
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
/*! /*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G". * \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G"); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G");
/*! /*!
* \brief Generates the SBAS raw data header * \brief Generates the SBAS raw data header
*/ */
void rinex_sbs_header(std::fstream & out); void rinex_sbs_header(std::fstream& out);
/*! /*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object * \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message & nav_msg); boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message& nav_msg);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the Galileo time and returns a boost::posix_time::ptime object * \brief Computes the Galileo time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the UTC Time and returns a boost::posix_time::ptime object * \brief Computes the UTC Time and returns a boost::posix_time::ptime object
@ -209,7 +209,7 @@ public:
* \param eph GLONASS GNAV Ephemeris object * \param eph GLONASS GNAV Ephemeris object
* \param obs_time Observation time in GPS seconds of week * \param obs_time Observation time in GPS seconds of week
*/ */
boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes number of leap seconds of GPS relative to UTC * \brief Computes number of leap seconds of GPS relative to UTC
@ -221,125 +221,125 @@ public:
/*! /*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file * \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the GPS L2 navigation message into the RINEX file * \brief Writes data from the GPS L2 navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Galileo navigation message into the RINEX file * \brief Writes data from the Galileo navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Galileo_Ephemeris> & galileo_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map);
/*! /*!
* \brief Writes data from the GLONASS GNAV navigation message into the RINEX file * \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Glonass_Gnav_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Glonass_Gnav_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes GPS L1 observables into the RINEX file * \brief Writes GPS L1 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GPS L2 observables into the RINEX file * \brief Writes GPS L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file * \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string galileo_bands = "1B"); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
/*! /*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file * \brief Writes Mixed GPS / Galileo observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C"); void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
/*! /*!
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file * \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not. * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
*/ */
void to_date_time(int gps_week, int gps_tow, int & year, int & month, int & day, int & hour, int & minute, int & second); void to_date_time(int gps_week, int gps_tow, int& year, int& month, int& day, int& hour, int& minute, int& second);
/*! /*!
* \brief Writes raw SBAS messages into the RINEX file * \brief Writes raw SBAS messages into the RINEX file
*/ */
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message); //void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono); void update_nav_header(std::fstream& out, const Gps_Utc_Model& gps_utc, const Gps_Iono& gps_iono);
void update_nav_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model, const Gps_CNAV_Iono & iono); void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono);
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_cnav_iono, const Gps_CNAV_Utc_Model & gps_cnav_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_cnav_iono, const Gps_CNAV_Utc_Model& gps_cnav_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model); void update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model);
void update_obs_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model); void update_obs_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model);
void update_obs_header(std::fstream & out, const Galileo_Utc_Model & galileo_utc_model); void update_obs_header(std::fstream& out, const Galileo_Utc_Model& galileo_utc_model);
void update_obs_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model); void update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH std::map<std::string, std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors std::map<std::string, std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02) std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
std::string navfilename; std::string navfilename;
@ -350,7 +350,7 @@ public:
std::string navMixfilename; std::string navMixfilename;
private: private:
int version ; // RINEX version (2 for 2.10/2.11 and 3 for 3.01) int version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
int numberTypesObservations; // Number of available types of observable in the system. Should be public? int numberTypesObservations; // Number of available types of observable in the system. Should be public?
/* /*
* Generation of RINEX signal strength indicators * Generation of RINEX signal strength indicators
@ -383,7 +383,7 @@ private:
/* /*
* Checks that the line is 80 characters length * Checks that the line is 80 characters length
*/ */
void lengthCheck(const std::string & line); void lengthCheck(const std::string& line);
double fake_cnav_iode; double fake_cnav_iode;
@ -400,7 +400,7 @@ private:
* \param[in] length new desired length of string. * \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default). * \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */ * \return a reference to \a s. */
inline std::string & leftJustify(std::string & s, inline std::string& leftJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' '); const char pad = ' ');
@ -417,11 +417,12 @@ private:
* \param[in] length new desired length of string. * \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default). * \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */ * \return a reference to \a s. */
inline std::string leftJustify(const std::string & s, inline std::string leftJustify(const std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' ') const char pad = ' ')
{ {
std::string t(s); return leftJustify(t, length, pad); std::string t(s);
return leftJustify(t, length, pad);
} }
@ -431,7 +432,7 @@ private:
* requested length (\a length), it is padded on the left with * requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad * the pad character (\a pad). The default pad
* character is a blank. */ * character is a blank. */
inline std::string & rightJustify(std::string & s, inline std::string& rightJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' '); const char pad = ' ');
@ -441,11 +442,12 @@ private:
* requested length (\a length), it is padded on the left with * requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad * the pad character (\a pad). The default pad
* character is a blank.*/ * character is a blank.*/
inline std::string rightJustify(const std::string & s, inline std::string rightJustify(const std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' ') const char pad = ' ')
{ {
std::string t(s); return rightJustify(t, length, pad); std::string t(s);
return rightJustify(t, length, pad);
} }
@ -459,7 +461,7 @@ private:
* exponentials above three characters in length. If false, it removes * exponentials above three characters in length. If false, it removes
* that check. * that check.
*/ */
inline std::string doub2sci(const double & d, inline std::string doub2sci(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool showSign = true, const bool showSign = true,
@ -480,7 +482,7 @@ private:
* produce an exponential with an E instead of a D, and always have a leading * produce an exponential with an E instead of a D, and always have a leading
* zero. For example -> 0.87654E-0004 or -0.1234E00005. * zero. For example -> 0.87654E-0004 or -0.1234E00005.
*/ */
inline std::string & sci2for(std::string & aStr, inline std::string& sci2for(std::string& aStr,
const std::string::size_type startPos = 0, const std::string::size_type startPos = 0,
const std::string::size_type length = std::string::npos, const std::string::size_type length = std::string::npos,
const std::string::size_type expLen = 3, const std::string::size_type expLen = 3,
@ -499,7 +501,7 @@ private:
* that check. * that check.
* @return a string containing \a d in FORTRAN notation. * @return a string containing \a d in FORTRAN notation.
*/ */
inline std::string doub2for(const double & d, inline std::string doub2for(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool checkSwitch = true); const bool checkSwitch = true);
@ -510,7 +512,7 @@ private:
* @param s string containing a number. * @param s string containing a number.
* @return double representation of string. * @return double representation of string.
*/ */
inline double asDouble(const std::string & s) inline double asDouble(const std::string& s)
{ {
return strtod(s.c_str(), 0); return strtod(s.c_str(), 0);
} }
@ -523,7 +525,7 @@ private:
* @param s string containing a number. * @param s string containing a number.
* @return long integer representation of string. * @return long integer representation of string.
*/ */
inline long asInt(const std::string & s) inline long asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -555,26 +557,26 @@ private:
* @param x object to turn into a string. * @param x object to turn into a string.
* @return string representation of \a x. * @return string representation of \a x.
*/ */
template <class X> inline std::string asString(const X x); template <class X>
inline std::string asString(const X x);
inline std::string asFixWidthString(const int x, const int width, char fill_digit); inline std::string asFixWidthString(const int x, const int width, char fill_digit);
}; };
// Implementation of inline functions (modified versions from GPSTk http://www.gpstk.org) // Implementation of inline functions (modified versions from GPSTk http://www.gpstk.org)
inline std::string & Rinex_Printer::leftJustify(std::string & s, inline std::string& Rinex_Printer::leftJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad) const char pad)
{ {
if(length < s.length()) if (length < s.length())
{ {
s = s.substr(0, length); s = s.substr(0, length);
} }
else else
{ {
s.append(length-s.length(), pad); s.append(length - s.length(), pad);
} }
return s; return s;
} }
@ -582,13 +584,13 @@ inline std::string & Rinex_Printer::leftJustify(std::string & s,
// if the string is bigger than length, truncate it from the left. // if the string is bigger than length, truncate it from the left.
// otherwise, add pad characters to its left. // otherwise, add pad characters to its left.
inline std::string & Rinex_Printer::rightJustify(std::string & s, inline std::string& Rinex_Printer::rightJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad) const char pad)
{ {
if(length < s.length()) if (length < s.length())
{ {
s = s.substr(s.length()-length, std::string::npos); s = s.substr(s.length() - length, std::string::npos);
} }
else else
{ {
@ -598,8 +600,7 @@ inline std::string & Rinex_Printer::rightJustify(std::string & s,
} }
inline std::string Rinex_Printer::doub2for(const double& d,
inline std::string Rinex_Printer::doub2for(const double & d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool checkSwitch) const bool checkSwitch)
@ -617,7 +618,7 @@ inline std::string Rinex_Printer::doub2for(const double & d,
} }
inline std::string Rinex_Printer::doub2sci(const double & d, inline std::string Rinex_Printer::doub2sci(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool showSign, const bool showSign,
@ -648,7 +649,7 @@ inline std::string Rinex_Printer::doub2sci(const double & d,
} }
inline std::string & Rinex_Printer::sci2for(std::string & aStr, inline std::string& Rinex_Printer::sci2for(std::string& aStr,
const std::string::size_type startPos, const std::string::size_type startPos,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
@ -660,7 +661,7 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
long iexp; long iexp;
//If checkSwitch is false, always redo the exponential. Otherwise, //If checkSwitch is false, always redo the exponential. Otherwise,
//set it to false. //set it to false.
bool redoexp =! checkSwitch; bool redoexp = !checkSwitch;
// Check for decimal place within specified boundaries // Check for decimal place within specified boundaries
if ((idx <= 0) || (idx >= (startPos + length - expLen - 1))) if ((idx <= 0) || (idx >= (startPos + length - expLen - 1)))
@ -712,11 +713,11 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
if (iexp < 0) if (iexp < 0)
{ {
aStr += "-"; aStr += "-";
iexp -= iexp*2; iexp -= iexp * 2;
} }
else else
aStr += "+"; aStr += "+";
aStr += Rinex_Printer::rightJustify(asString(iexp),expLen,'0'); aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0');
} }
// if the number is positive, append a space // if the number is positive, append a space
@ -736,11 +737,10 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
} // end sci2for } // end sci2for
inline std::string asString(const long double x, const std::string::size_type precision) inline std::string asString(const long double x, const std::string::size_type precision)
{ {
std::ostringstream ss; std::ostringstream ss;
ss << std::fixed << std::setprecision(precision) << x ; ss << std::fixed << std::setprecision(precision) << x;
return ss.str(); return ss.str();
} }
@ -761,7 +761,7 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
} }
inline long asInt(const std::string & s) inline long asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -771,16 +771,17 @@ inline int Rinex_Printer::toInt(std::string bitString, int sLength)
{ {
int tempInt; int tempInt;
int num = 0; int num = 0;
for(int i = 0; i < sLength; i++) for (int i = 0; i < sLength; i++)
{ {
tempInt = bitString[i]-'0'; tempInt = bitString[i] - '0';
num |= (1 << (sLength - 1 - i)) * tempInt; num |= (1 << (sLength - 1 - i)) * tempInt;
} }
return num; return num;
} }
template<class X> inline std::string Rinex_Printer::asString(const X x) template <class X>
inline std::string Rinex_Printer::asString(const X x)
{ {
std::ostringstream ss; std::ostringstream ss;
ss << x; ss << x;

82
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -53,31 +53,31 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
@ -115,7 +115,7 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
rtcm = std::make_shared<Rtcm>(port); rtcm = std::make_shared<Rtcm>(port);
if(flag_rtcm_server) if (flag_rtcm_server)
{ {
rtcm->run_server(); rtcm->run_server();
} }
@ -124,17 +124,17 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
Rtcm_Printer::~Rtcm_Printer() Rtcm_Printer::~Rtcm_Printer()
{ {
if(rtcm->is_server_running()) if (rtcm->is_server_running())
{ {
try try
{ {
rtcm->stop_server(); rtcm->stop_server();
} }
catch(const boost::exception & e) catch (const boost::exception& e)
{ {
LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e); LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "STD exception: " << ex.what(); LOG(WARNING) << "STD exception: " << ex.what();
} }
@ -146,14 +146,14 @@ Rtcm_Printer::~Rtcm_Printer()
rtcm_file_descriptor.close(); rtcm_file_descriptor.close();
if (pos == 0) if (pos == 0)
{ {
if(remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file"; if (remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file";
} }
} }
close_serial(); close_serial();
} }
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id); std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1001); Rtcm_Printer::Print_Message(m1001);
@ -161,7 +161,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id); std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1002); Rtcm_Printer::Print_Message(m1002);
@ -169,7 +169,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -177,7 +177,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -185,7 +185,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id); std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1009); Rtcm_Printer::Print_Message(m1009);
@ -193,7 +193,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id); std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1010); Rtcm_Printer::Print_Message(m1010);
@ -201,7 +201,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1011); Rtcm_Printer::Print_Message(m1011);
@ -209,7 +209,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1012); Rtcm_Printer::Print_Message(m1012);
@ -217,7 +217,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph) bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph)
{ {
std::string m1019 = rtcm->print_MT1019(gps_eph); std::string m1019 = rtcm->print_MT1019(gps_eph);
Rtcm_Printer::Print_Message(m1019); Rtcm_Printer::Print_Message(m1019);
@ -225,7 +225,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model) bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model)
{ {
std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model); std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
Rtcm_Printer::Print_Message(m1020); Rtcm_Printer::Print_Message(m1020);
@ -233,7 +233,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav
} }
bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph) bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph)
{ {
std::string m1045 = rtcm->print_MT1045(gal_eph); std::string m1045 = rtcm->print_MT1045(gal_eph);
Rtcm_Printer::Print_Message(m1045); Rtcm_Printer::Print_Message(m1045);
@ -241,12 +241,12 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph, bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris & gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & observables, const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, unsigned int clock_steering_indicator,
unsigned int external_clock_indicator, unsigned int external_clock_indicator,
int smooth_int, int smooth_int,
@ -254,31 +254,31 @@ bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris &
bool more_messages) bool more_messages)
{ {
std::string msm; std::string msm;
if(msm_number == 1) if (msm_number == 1)
{ {
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 2) else if (msm_number == 2)
{ {
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 3) else if (msm_number == 3)
{ {
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 4) else if (msm_number == 4)
{ {
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 5) else if (msm_number == 5)
{ {
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 6) else if (msm_number == 6)
{ {
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 7) else if (msm_number == 7)
{ {
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
@ -308,7 +308,7 @@ int Rtcm_Printer::init_serial(std::string serial_device)
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; // failed to open TTY port if (fd == -1) return fd; // failed to open TTY port
if(fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
@ -338,14 +338,14 @@ void Rtcm_Printer::close_serial()
} }
bool Rtcm_Printer::Print_Message(const std::string & message) bool Rtcm_Printer::Print_Message(const std::string& message)
{ {
//write to file //write to file
try try
{ {
rtcm_file_descriptor << message << std::endl; rtcm_file_descriptor << message << std::endl;
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
DLOG(INFO) << "RTCM printer cannot write on the output file " << rtcm_filename.c_str(); DLOG(INFO) << "RTCM printer cannot write on the output file " << rtcm_filename.c_str();
return false; return false;
@ -354,7 +354,7 @@ bool Rtcm_Printer::Print_Message(const std::string & message)
//write to serial device //write to serial device
if (rtcm_dev_descriptor != -1) if (rtcm_dev_descriptor != -1)
{ {
if(write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1) if (write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1)
{ {
DLOG(INFO) << "RTCM printer cannot write on serial device " << rtcm_devname.c_str(); DLOG(INFO) << "RTCM printer cannot write on serial device " << rtcm_devname.c_str();
std::cout << "RTCM printer cannot write on serial device " << rtcm_devname.c_str() << std::endl; std::cout << "RTCM printer cannot write on serial device " << rtcm_devname.c_str() << std::endl;
@ -372,25 +372,25 @@ std::string Rtcm_Printer::print_MT1005_test()
} }
unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }

46
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -55,10 +55,10 @@ public:
*/ */
~Rtcm_Printer(); ~Rtcm_Printer();
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1-Only GLONASS RTK Observables * \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred. * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -68,7 +68,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1-Only GLONASS RTK Observables * \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases. * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -78,7 +78,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1&L2 GLONASS RTK Observables * \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -89,7 +89,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables * \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found. * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -100,10 +100,10 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes. bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
/*! /*!
* \brief Prints GLONASS GNAV Ephemeris * \brief Prints GLONASS GNAV Ephemeris
* \details This GLONASS message should be broadcast every 2 minutes * \details This GLONASS message should be broadcast every 2 minutes
@ -112,15 +112,15 @@ public:
* \param utc_model GLONASS GNAV Clock Information broadcast in string 5 * \param utc_model GLONASS GNAV Clock Information broadcast in string 5
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Utc_Model & utc_model); bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
bool Print_Rtcm_MSM(unsigned int msm_number, bool Print_Rtcm_MSM(unsigned int msm_number,
const Gps_Ephemeris & gps_eph, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris & gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & observables, const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, unsigned int clock_steering_indicator,
unsigned int external_clock_indicator, unsigned int external_clock_indicator,
int smooth_int, int smooth_int,
@ -128,9 +128,9 @@ public:
bool more_messages); bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes std::string print_MT1005_test(); //<! For testing purposes
unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*! /*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
@ -139,7 +139,7 @@ public:
* \params observables Set of observables as defined by the platform * \params observables Set of observables as defined by the platform
* \return locked time during logging process * \return locked time during logging process
*/ */
unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
private: private:
std::string rtcm_filename; // String with the RTCM log filename std::string rtcm_filename; // String with the RTCM log filename
@ -148,10 +148,10 @@ private:
unsigned short port; unsigned short port;
unsigned short station_id; unsigned short station_id;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port) int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int init_serial (std::string serial_device); //serial port control int init_serial(std::string serial_device); //serial port control
void close_serial (); void close_serial();
std::shared_ptr<Rtcm> rtcm; std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string & message); bool Print_Message(const std::string& message);
}; };
#endif #endif

100
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -61,7 +61,7 @@
using google::LogMessage; using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk) rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk)
{ {
// init empty ephemeris for all the available GNSS channels // init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels; d_nchannels = nchannels;
@ -71,7 +71,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
this->set_averaging_flag(false); this->set_averaging_flag(false);
rtk_ = rtk; rtk_ = rtk;
pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 }; pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
@ -84,7 +84,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
@ -101,7 +101,7 @@ rtklib_solver::~rtklib_solver()
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
@ -109,13 +109,13 @@ rtklib_solver::~rtklib_solver()
} }
bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging) bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::const_iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter; std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model; const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
this->set_averaging_flag(flag_averaging); this->set_averaging_flag(flag_averaging);
@ -130,17 +130,17 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
geph_t geph_data[MAXOBS]; geph_t geph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{ {
case 'E': case 'E':
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1 // Galileo E1
if(sig_.compare("1B") == 0) if (sig_.compare("1B") == 0)
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -149,8 +149,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
0); 0);
@ -163,7 +163,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
// Galileo E5 // Galileo E5
if(sig_.compare("5X") == 0) if (sig_.compare("5X") == 0)
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -177,7 +177,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2);//Band 3 (L5/E5) 2); //Band 3 (L5/E5)
found_E1_obs = true; found_E1_obs = true;
break; break;
} }
@ -189,10 +189,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5) 2); //Band 3 (L5/E5)
@ -211,7 +211,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// GPS L1 // GPS L1
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0) if (sig_.compare("1C") == 0)
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
@ -219,8 +219,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week, gps_ephemeris_iter->second.i_GPS_week,
0); 0);
@ -232,7 +232,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
//GPS L2 //GPS L2
if(sig_.compare("2S") == 0) if (sig_.compare("2S") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -248,10 +248,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1); //Band 2 (L2)
break; break;
} }
} }
@ -263,13 +263,13 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1); //Band 2 (L2)
valid_obs++; valid_obs++;
} }
} }
@ -279,7 +279,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
//GPS L5 //GPS L5
if(sig_.compare("L5") == 0) if (sig_.compare("L5") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -295,10 +295,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5) 2); //Band 3 (L5)
break; break;
} }
} }
@ -310,13 +310,13 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5) 2); //Band 3 (L5)
valid_obs++; valid_obs++;
} }
} }
@ -331,7 +331,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1 // GLONASS GNAV L1
if(sig_.compare("1G") == 0) if (sig_.compare("1G") == 0)
{ {
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -340,21 +340,20 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1) 0); //Band 0 (L1)
glo_valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
// GLONASS GNAV L2 // GLONASS GNAV L2
if(sig_.compare("2G") == 0) if (sig_.compare("2G") == 0)
{ {
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key // 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -363,12 +362,12 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
bool found_L1_obs = false; bool found_L1_obs = false;
for (int i = 0; i < glo_valid_obs; i++) for (int i = 0; i < glo_valid_obs; i++)
{ {
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS))) if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS)))
{ {
obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs], obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1);//Band 1 (L2) 1); //Band 1 (L2)
found_L1_obs = true; found_L1_obs = true;
break; break;
} }
@ -379,8 +378,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2) 1); //Band 1 (L2)
@ -391,12 +390,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
break; break;
} }
default : default:
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
} }
@ -425,7 +422,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
if(result == 0) if (result == 0)
{ {
LOG(INFO) << "RTKLIB rtkpos error"; LOG(INFO) << "RTKLIB rtkpos error";
DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf; DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
@ -456,10 +453,11 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
<< " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
@ -498,4 +496,4 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
return this->is_valid_position(); return this->is_valid_position();
} }

12
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -80,15 +80,15 @@ private:
bool d_flag_dump_enabled; bool d_flag_dump_enabled;
int d_nchannels; // Number of available channels for positioning int d_nchannels; // Number of available channels for positioning
public: public:
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk); rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
~rtklib_solver(); ~rtklib_solver();
bool get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging);
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;

35
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
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@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition( GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,7 +58,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -77,9 +76,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -130,11 +127,11 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -209,18 +206,17 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < sampled_ms_/4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -248,12 +244,12 @@ float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_*frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -287,4 +283,3 @@ gr::basic_block_sptr GalileoE1Pcps8msAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief Adapts a PCPS 8ms acquisition block to an * \brief Adapts a PCPS 8ms acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1Pcps8msAmbiguousAcquisition: public AcquisitionInterface class GalileoE1Pcps8msAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -142,8 +142,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

36
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
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@ -43,8 +43,7 @@ using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition( GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -60,7 +59,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -84,18 +83,21 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
vector_length_ = sampled_ms_ * samples_per_ms; vector_length_ = sampled_ms_ * samples_per_ms;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
else { item_size_ = sizeof(gr_complex); } else
{
item_size_ = sizeof(gr_complex);
}
acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_, acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_, doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_,
@ -133,11 +135,11 @@ void GalileoE1PcpsAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -192,10 +194,9 @@ void GalileoE1PcpsAmbiguousAcquisition::init()
void GalileoE1PcpsAmbiguousAcquisition::set_local_code() void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
if (acquire_pilot_ == true) if (acquire_pilot_ == true)
{ {
@ -213,7 +214,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_ / 4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, sizeof(gr_complex)*code_length_); memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
} }
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -241,14 +242,14 @@ float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) <<"Channel "<<channel_<<" Pfa = "<< pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -330,4 +331,3 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -48,7 +48,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an * \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1PcpsAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -156,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

21
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition( GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,7 +57,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -77,9 +76,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -147,7 +144,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = threshold; threshold_ = threshold;
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -212,8 +209,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
char signal[3]; char signal[3];
@ -246,10 +242,11 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_state(int state)
} }
float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa) float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa)
{ {
if(pfa){ /* Not implemented*/}; if (pfa)
{ /* Not implemented*/
};
return 0.0; return 0.0;
} }
@ -260,7 +257,6 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::connect(gr::top_block_sptr top_blo
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
} }
} }
@ -283,4 +279,3 @@ gr::basic_block_sptr GalileoE1PcpsCccwsrAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

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

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief Adapts a PCPS CCCWSR acquisition block to an AcquisitionInterface * \brief Adapts a PCPS CCCWSR acquisition block to an AcquisitionInterface
* for Galileo E1 Signals * for Galileo E1 Signals
*/ */
class GalileoE1PcpsCccwsrAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsCccwsrAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -145,9 +145,9 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_data_; std::complex<float>* code_data_;
std::complex<float> * code_pilot_; std::complex<float>* code_pilot_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

76
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition( GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,14 +58,12 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
/*--- Find number of samples per spreading code (4 ms) -----------------*/ /*--- Find number of samples per spreading code (4 ms) -----------------*/
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
@ -79,24 +76,23 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
//folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_)))); //folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", 2); folding_factor_ = configuration_->property(role + ".folding_factor", 2);
if (sampled_ms_ % (folding_factor_*4) != 0) if (sampled_ms_ % (folding_factor_ * 4) != 0)
{ {
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time" LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
<< " multiple of "<<(folding_factor_*4)<<"ms, Value entered " << " multiple of " << (folding_factor_ * 4) << "ms, Value entered "
<<sampled_ms_<<" ms"; << sampled_ms_ << " ms";
if(sampled_ms_ < (folding_factor_*4)) if (sampled_ms_ < (folding_factor_ * 4))
{ {
sampled_ms_ = static_cast<int>(folding_factor_ * 4); sampled_ms_ = static_cast<int>(folding_factor_ * 4);
} }
else else
{ {
sampled_ms_ = static_cast<int>(sampled_ms_/(folding_factor_*4)) * (folding_factor_*4); sampled_ms_ = static_cast<int>(sampled_ms_ / (folding_factor_ * 4)) * (folding_factor_ * 4);
} }
LOG(WARNING) << "coherent_integration_time should be multiple of " LOG(WARNING) << "coherent_integration_time should be multiple of "
<< "Galileo code length (4 ms). coherent_integration_time = " << "Galileo code length (4 ms). coherent_integration_time = "
<< sampled_ms_ << " ms will be used."; << sampled_ms_ << " ms will be used.";
} }
// vector_length_ = (sampled_ms_/folding_factor_) * code_length_; // vector_length_ = (sampled_ms_/folding_factor_) * code_length_;
vector_length_ = sampled_ms_ * samples_per_ms; vector_length_ = sampled_ms_ * samples_per_ms;
@ -153,8 +149,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcqu
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -164,15 +159,13 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0); if (pfa == 0.0)
if(pfa==0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -181,7 +174,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -190,8 +183,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
@ -202,8 +194,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -212,8 +203,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int dopple
} }
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro) Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -238,33 +228,30 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code(); //set_local_code();
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < (sampled_ms_/(folding_factor_*4)); i++) for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
// memcpy(code_, code,sizeof(gr_complex)*code_length_); // memcpy(code_, code,sizeof(gr_complex)*code_length_);
@ -276,8 +263,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -294,7 +280,6 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
} }
float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa) float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
{ {
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
@ -309,15 +294,14 @@ float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_); double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -326,8 +310,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -346,4 +329,3 @@ gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_right_block
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an * \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1PcpsQuickSyncAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsQuickSyncAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

37
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition( GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,7 +58,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -80,9 +79,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -134,12 +131,11 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_+".pfa", 0.0); if (pfa == 0.0)
if(pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -148,7 +144,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -175,7 +171,6 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_doppler_step(unsigned int dopple
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
@ -215,18 +210,17 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < sampled_ms_/4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -262,10 +256,10 @@ float GalileoE1PcpsTongAmbiguousAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0-pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -299,4 +293,3 @@ gr::basic_block_sptr GalileoE1PcpsTongAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief Adapts a PCPS Tong acquisition block to an AcquisitionInterface * \brief Adapts a PCPS Tong acquisition block to an AcquisitionInterface
* for Galileo E1 Signals * for Galileo E1 Signals
*/ */
class GalileoE1PcpsTongAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsTongAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

54
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -48,8 +48,7 @@ using google::LogMessage;
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf( GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -64,9 +63,9 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz",0); CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz", 0);
Zero_padding = configuration_->property(role + ".Zero_padding",0); Zero_padding = configuration_->property(role + ".Zero_padding", 0);
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (sampled_ms_ > 3) if (sampled_ms_ > 3)
{ {
@ -90,8 +89,8 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
codeI_= new gr_complex[vector_length_]; codeI_ = new gr_complex[vector_length_];
codeQ_= new gr_complex[vector_length_]; codeQ_ = new gr_complex[vector_length_];
both_signal_components = false; both_signal_components = false;
std::string sig_ = configuration_->property("Channel.signal", std::string("5X")); std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
@ -104,7 +103,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_, acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_, bit_transition_flag_, doppler_max_, if_, fs_in_, code_length_, code_length_, bit_transition_flag_,
dump_, dump_filename_, both_signal_components, CAF_window_hz_,Zero_padding); dump_, dump_filename_, both_signal_components, CAF_window_hz_, Zero_padding);
} }
else else
{ {
@ -138,12 +137,11 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel(unsigned int channel)
void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold) void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
if(pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -223,11 +221,11 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
char a[3]; char a[3];
strcpy(a,"5I"); strcpy(a, "5I");
galileo_e5_a_code_gen_complex_sampled(codeI, a, galileo_e5_a_code_gen_complex_sampled(codeI, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
strcpy(a,"5Q"); strcpy(a, "5Q");
galileo_e5_a_code_gen_complex_sampled(codeQ, a, galileo_e5_a_code_gen_complex_sampled(codeQ, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
} }
@ -242,12 +240,12 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{ {
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(codeI_[i*code_length_]), codeI, memcpy(&(codeI_[i * code_length_]), codeI,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
memcpy(&(codeQ_[i*code_length_]), codeQ, memcpy(&(codeQ_[i * code_length_]), codeQ,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
} }
} }
@ -255,20 +253,18 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{ {
// 1ms code + 1ms zero padding // 1ms code + 1ms zero padding
memcpy(&(codeI_[0]), codeI, memcpy(&(codeI_[0]), codeI,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
memcpy(&(codeQ_[0]), codeQ, memcpy(&(codeQ_[0]), codeQ,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
} }
acquisition_cc_->set_local_code(codeI_,codeQ_); acquisition_cc_->set_local_code(codeI_, codeQ_);
delete[] codeI; delete[] codeI;
delete[] codeQ; delete[] codeQ;
} }
} }
@ -294,8 +290,8 @@ float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -309,14 +305,18 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_state(int state)
void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block) void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally // Nothing to connect internally
} }
void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block) void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect internally // Nothing to disconnect internally
} }

8
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -45,7 +45,7 @@
class ConfigurationInterface; class ConfigurationInterface;
class GalileoE5aNoncoherentIQAcquisitionCaf: public AcquisitionInterface class GalileoE5aNoncoherentIQAcquisitionCaf : public AcquisitionInterface
{ {
public: public:
GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration, GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration,
@ -151,10 +151,10 @@ private:
std::string dump_filename_; std::string dump_filename_;
int Zero_padding; int Zero_padding;
int CAF_window_hz_; int CAF_window_hz_;
std::complex<float> * codeI_; std::complex<float>* codeI_;
std::complex<float> * codeQ_; std::complex<float>* codeQ_;
bool both_signal_components; bool both_signal_components;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

53
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -42,8 +42,7 @@
using google::LogMessage; using google::LogMessage;
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration, GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -57,10 +56,13 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false); acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false); acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if(acq_iq_) { acq_pilot_ = false; } if (acq_iq_)
{
acq_pilot_ = false;
}
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
@ -74,11 +76,11 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if(item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
} }
else if(item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -115,14 +117,22 @@ void GalileoE5aPcpsAcquisition::set_channel(unsigned int channel)
void GalileoE5aPcpsAcquisition::set_threshold(float threshold) void GalileoE5aPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if(pfa == 0.0) { pfa = configuration_->property(role_ + ".pfa", 0.0); } if (pfa == 0.0)
{
threshold_ = threshold;
}
if(pfa == 0.0) { threshold_ = threshold; } else
{
else { threshold_ = calculate_threshold(pfa); } threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
@ -168,13 +178,22 @@ void GalileoE5aPcpsAcquisition::set_local_code()
gr_complex* code = new gr_complex[code_length_]; gr_complex* code = new gr_complex[code_length_];
char signal_[3]; char signal_[3];
if(acq_iq_) { strcpy(signal_, "5X"); } if (acq_iq_)
else if(acq_pilot_) { strcpy(signal_, "5Q"); } {
else { strcpy(signal_, "5I"); } strcpy(signal_, "5X");
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
}
else
{
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0); galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
for(unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_); memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
} }
@ -202,8 +221,8 @@ float GalileoE5aPcpsAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }

4
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -40,7 +40,7 @@
class ConfigurationInterface; class ConfigurationInterface;
class GalileoE5aPcpsAcquisition: public AcquisitionInterface class GalileoE5aPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration, GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
@ -124,7 +124,6 @@ public:
void set_state(int state); void set_state(int state);
private: private:
float calculate_threshold(float pfa); float calculate_threshold(float pfa);
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
@ -167,6 +166,5 @@ private:
gr_complex* code_; gr_complex* code_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
}; };
#endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */ #endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */

25
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition( GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -61,11 +60,11 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -76,14 +75,14 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -129,7 +128,7 @@ void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + ".pfa", 0.0); float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -186,12 +185,12 @@ void GlonassL1CaPcpsAcquisition::set_local_code()
{ {
std::complex<float>* code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0); glonass_l1_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -222,15 +221,15 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
} }
*/ */
frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_; frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(vector_length_); double lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }

6
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -48,7 +48,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GlonassL1CaPcpsAcquisition: public AcquisitionInterface class GlonassL1CaPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration, GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
@ -155,8 +155,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

24
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -42,13 +42,11 @@
#include <glog/logging.h> #include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition( GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -63,11 +61,11 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -78,14 +76,14 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -131,7 +129,7 @@ void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + ".pfa", 0.0); float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -191,8 +189,8 @@ void GpsL1CaPcpsAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -212,7 +210,6 @@ void GpsL1CaPcpsAcquisition::set_state(int state)
} }
float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -226,8 +223,8 @@ float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -309,4 +306,3 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -52,7 +52,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAcquisition: public AcquisitionInterface class GpsL1CaPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration,
@ -159,8 +159,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

23
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -43,8 +43,7 @@ using google::LogMessage;
GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler( GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat"; std::string default_dump_filename = "./data/acquisition.dat";
@ -58,21 +57,20 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
doppler_min_ = configuration->property(role + ".doppler_min", - doppler_max_); doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
max_dwells_= configuration->property(role + ".max_dwells", 1); max_dwells_ = configuration->property(role + ".max_dwells", 1);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_,sampled_ms_, acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_, sampled_ms_,
doppler_max_, doppler_min_, if_, fs_in_, vector_length_, doppler_max_, doppler_min_, if_, fs_in_, vector_length_,
dump_, dump_filename_); dump_, dump_filename_);
} }
@ -158,14 +156,18 @@ void GpsL1CaPcpsAcquisitionFineDoppler::reset()
void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block) void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block)
{ {
if(top_block) { /* top_block is not null */}; 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
} }
void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block) void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block)
{ {
if(top_block) { /* top_block is not null */}; 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
} }
@ -180,4 +182,3 @@ boost::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_right_
{ {
return acquisition_cc_; return acquisition_cc_;
} }

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -40,14 +40,13 @@
#include "pcps_acquisition_fine_doppler_cc.h" #include "pcps_acquisition_fine_doppler_cc.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class Adapts a PCPS acquisition block with fine Doppler estimation to an AcquisitionInterface for * \brief This class Adapts a PCPS acquisition block with fine Doppler estimation to an AcquisitionInterface for
* GPS L1 C/A signals * GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAcquisitionFineDoppler: public AcquisitionInterface class GpsL1CaPcpsAcquisitionFineDoppler : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAcquisitionFineDoppler(ConfigurationInterface* configuration, GpsL1CaPcpsAcquisitionFineDoppler(ConfigurationInterface* configuration,
@ -139,8 +138,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -43,8 +43,7 @@ using google::LogMessage;
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga( GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
unsigned int code_length; unsigned int code_length;
bool bit_transition_flag; bool bit_transition_flag;
@ -72,7 +71,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ifreq = configuration_->property(role + ".if", 0); ifreq = configuration_->property(role + ".if", 0);
dump = configuration_->property(role + ".dump", false); dump = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
// note : the FPGA is implemented according to bit transition flag = 0. Setting bit transition flag to 1 has no effect. // note : the FPGA is implemented according to bit transition flag = 0. Setting bit transition flag to 1 has no effect.
@ -122,7 +121,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
else else
{ {
LOG(WARNING) << "item_type configured to " << item_type_ << "but FPGA implementation only accepts cshort"; LOG(WARNING) << "item_type configured to " << item_type_ << "but FPGA implementation only accepts cshort";
throw std::invalid_argument( "Wrong input_type configuration. Should be cshort" ); throw std::invalid_argument("Wrong input_type configuration. Should be cshort");
} }
channel_ = 0; channel_ = 0;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -144,7 +144,7 @@ private:
unsigned int doppler_max_; unsigned int doppler_max_;
unsigned int doppler_step_; unsigned int doppler_step_;
unsigned int max_dwells_; unsigned int max_dwells_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

19
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition( GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat"; std::string default_dump_filename = "./data/acquisition.dat";
@ -58,15 +57,14 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
if_ = configuration->property(role + ".if", 0); if_ = configuration->property(role + ".if", 0);
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_); doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
max_dwells_= configuration->property(role + ".max_dwells", 1); max_dwells_ = configuration->property(role + ".max_dwells", 1);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
@ -157,14 +155,18 @@ void GpsL1CaPcpsAssistedAcquisition::reset()
void GpsL1CaPcpsAssistedAcquisition::connect(gr::top_block_sptr top_block) void GpsL1CaPcpsAssistedAcquisition::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; 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
} }
void GpsL1CaPcpsAssistedAcquisition::disconnect(gr::top_block_sptr top_block) void GpsL1CaPcpsAssistedAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; 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
} }
@ -179,4 +181,3 @@ gr::basic_block_sptr GpsL1CaPcpsAssistedAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -40,14 +40,13 @@
#include "pcps_assisted_acquisition_cc.h" #include "pcps_assisted_acquisition_cc.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAssistedAcquisition: public AcquisitionInterface class GpsL1CaPcpsAssistedAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAssistedAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsAssistedAcquisition(ConfigurationInterface* configuration,
@ -140,8 +139,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

22
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition( GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,7 +58,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property("Acquisition.bit_transition_flag", false); bit_transition_flag_ = configuration_->property("Acquisition.bit_transition_flag", false);
@ -77,8 +76,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
default_dump_filename); default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -129,11 +127,11 @@ void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -168,7 +166,6 @@ void GpsL1CaPcpsOpenClAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
@ -212,8 +209,8 @@ void GpsL1CaPcpsOpenClAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -248,8 +245,8 @@ float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -283,4 +280,3 @@ gr::basic_block_sptr GpsL1CaPcpsOpenClAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -39,14 +39,13 @@
#include "pcps_opencl_acquisition_cc.h" #include "pcps_opencl_acquisition_cc.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts an OpenCL PCPS acquisition block to an * \brief This class adapts an OpenCL PCPS acquisition block to an
* AcquisitionInterface for GPS L1 C/A signals * AcquisitionInterface for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsOpenClAcquisition: public AcquisitionInterface class GpsL1CaPcpsOpenClAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsOpenClAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsOpenClAcquisition(ConfigurationInterface* configuration,
@ -144,8 +143,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

41
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -43,8 +43,7 @@ using google::LogMessage;
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition( GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,23 +57,22 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (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*/
unsigned int temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_)))); unsigned int temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", temp); folding_factor_ = configuration_->property(role + ".folding_factor", temp);
if ( sampled_ms_ % folding_factor_ != 0) if (sampled_ms_ % folding_factor_ != 0)
{ {
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time" LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
<< " multiple of " << folding_factor_ << "ms, Value entered " << " multiple of " << folding_factor_ << "ms, Value entered "
<< sampled_ms_ << " ms"; << sampled_ms_ << " ms";
if(sampled_ms_ < folding_factor_) if (sampled_ms_ < folding_factor_)
{ {
sampled_ms_ = static_cast<int>(folding_factor_); sampled_ms_ = static_cast<int>(folding_factor_);
} }
@ -115,12 +113,12 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_, acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
sampled_ms_, max_dwells_,doppler_max_, if_, fs_in_, sampled_ms_, max_dwells_, doppler_max_, if_, fs_in_,
samples_per_ms, code_length_,bit_transition_flag_, samples_per_ms, code_length_, bit_transition_flag_,
dump_, dump_filename_); dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
code_length_*folding_factor_); code_length_ * folding_factor_);
DLOG(INFO) << "stream_to_vector_quicksync(" << stream_to_vector_->unique_id() << ")"; DLOG(INFO) << "stream_to_vector_quicksync(" << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")"; DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
@ -157,13 +155,14 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_channel(unsigned int channel)
void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold) void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + float pfa = configuration_->property(role_ +
boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); boost::lexical_cast<std::string>(channel_) + ".pfa",
0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -172,7 +171,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) << "Channel "<< channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -240,10 +239,10 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
for (unsigned int i = 0; i < (sampled_ms_/folding_factor_); i++) for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
//memcpy(code_, code,sizeof(gr_complex)*code_length_); //memcpy(code_, code,sizeof(gr_complex)*code_length_);
@ -280,13 +279,13 @@ float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
{ {
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = (code_length_ / folding_factor_) * frequency_bins; unsigned int ncells = (code_length_ / folding_factor_) * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_); double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -320,5 +319,3 @@ gr::basic_block_sptr GpsL1CaPcpsQuickSyncAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -41,14 +41,13 @@
#include "configuration_interface.h" #include "configuration_interface.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsQuickSyncAcquisition: public AcquisitionInterface class GpsL1CaPcpsQuickSyncAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration,
@ -131,6 +130,7 @@ public:
* \brief If state = 1, it forces the block to start acquiring from the first sample * \brief If state = 1, it forces the block to start acquiring from the first sample
*/ */
void set_state(int state); void set_state(int state);
private: private:
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_quicksync_acquisition_cc_sptr acquisition_cc_; pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
@ -151,14 +151,13 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
float calculate_threshold(float pfa); float calculate_threshold(float pfa);
}; };
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_ */ #endif /* GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_ */

27
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition( GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,7 +57,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
tong_init_val_ = configuration->property(role + ".tong_init_val", 1); tong_init_val_ = configuration->property(role + ".tong_init_val", 1);
@ -68,8 +67,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -120,11 +118,11 @@ void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_+".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -159,7 +157,6 @@ void GpsL1CaPcpsTongAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
@ -202,8 +199,8 @@ void GpsL1CaPcpsTongAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -240,13 +237,13 @@ float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa)
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel "<< channel_ <<" Pfa = "<< pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
@ -259,7 +256,6 @@ void GpsL1CaPcpsTongAcquisition::connect(gr::top_block_sptr top_block)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
} }
} }
@ -282,4 +278,3 @@ gr::basic_block_sptr GpsL1CaPcpsTongAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

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

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS Tong acquisition block to an * \brief This class adapts a PCPS Tong acquisition block to an
* AcquisitionInterface for GPS L1 C/A signals * AcquisitionInterface for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsTongAcquisition: public AcquisitionInterface class GpsL1CaPcpsTongAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsTongAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsTongAcquisition(ConfigurationInterface* configuration,
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

29
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition( GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -62,29 +61,28 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(static_cast<double>(fs_in_) code_length_ = round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
/ (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_; vector_length_ = code_length_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -131,11 +129,11 @@ void GpsL2MPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -144,7 +142,7 @@ void GpsL2MPcpsAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) << "Channel " << channel_ <<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_->set_threshold(threshold_); acquisition_->set_threshold(threshold_);
} }
@ -191,7 +189,6 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code() void GpsL2MPcpsAcquisition::set_local_code()
{ {
gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_); gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -209,7 +206,6 @@ void GpsL2MPcpsAcquisition::set_state(int state)
} }
float GpsL2MPcpsAcquisition::calculate_threshold(float pfa) float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -218,13 +214,13 @@ float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{ {
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -306,4 +302,3 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

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

@ -44,14 +44,13 @@
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L2 M signals * for GPS L2 M signals
*/ */
class GpsL2MPcpsAcquisition: public AcquisitionInterface class GpsL2MPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL2MPcpsAcquisition(ConfigurationInterface* configuration, GpsL2MPcpsAcquisition(ConfigurationInterface* configuration,
@ -157,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

29
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition( GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -61,29 +60,28 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(static_cast<double>(fs_in_) code_length_ = round(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
/ (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_; vector_length_ = code_length_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -130,11 +128,11 @@ void GpsL5iPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -143,7 +141,7 @@ void GpsL5iPcpsAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) << "Channel " << channel_ <<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_->set_threshold(threshold_); acquisition_->set_threshold(threshold_);
} }
@ -188,7 +186,6 @@ void GpsL5iPcpsAcquisition::init()
void GpsL5iPcpsAcquisition::set_local_code() void GpsL5iPcpsAcquisition::set_local_code()
{ {
gps_l5i_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_); gps_l5i_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -206,7 +203,6 @@ void GpsL5iPcpsAcquisition::set_state(int state)
} }
float GpsL5iPcpsAcquisition::calculate_threshold(float pfa) float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -215,13 +211,13 @@ float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{ {
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -303,4 +299,3 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

6
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -50,7 +50,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L5i signals * for GPS L5i signals
*/ */
class GpsL5iPcpsAcquisition: public AcquisitionInterface class GpsL5iPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL5iPcpsAcquisition(ConfigurationInterface* configuration, GpsL5iPcpsAcquisition(ConfigurationInterface* configuration,
@ -156,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

127
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -57,7 +57,6 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make
int CAF_window_hz_, int CAF_window_hz_,
int Zero_padding_) int Zero_padding_)
{ {
return galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr( return galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr(
new galileo_e5a_noncoherentIQ_acquisition_caf_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms, new galileo_e5a_noncoherentIQ_acquisition_caf_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_)); samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_));
@ -73,8 +72,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
std::string dump_filename, std::string dump_filename,
bool both_signal_components_, bool both_signal_components_,
int CAF_window_hz_, int CAF_window_hz_,
int Zero_padding_) : int Zero_padding_) : gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex))) gr::io_signature::make(0, 0, sizeof(gr_complex)))
{ {
@ -106,14 +104,14 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
d_both_signal_components = both_signal_components_; d_both_signal_components = both_signal_components_;
d_CAF_window_hz = CAF_window_hz_; d_CAF_window_hz = CAF_window_hz_;
d_inbuffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_inbuffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_I_A = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_I_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeIA = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeIA = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
d_fft_code_Q_A = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_Q_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeQA = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeQA = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
} }
else else
{ {
@ -123,12 +121,12 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
// IF COHERENT INTEGRATION TIME > 1 // IF COHERENT INTEGRATION TIME > 1
if (d_sampled_ms > 1) if (d_sampled_ms > 1)
{ {
d_fft_code_I_B = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_I_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeIB = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeIB = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
d_fft_code_Q_B = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_Q_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeQB = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeQB = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
} }
else else
{ {
@ -219,27 +217,27 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisi
} }
void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<float> * codeI, std::complex<float> * codeQ ) void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<float> *codeI, std::complex<float> *codeQ)
{ {
// DATA SIGNAL // DATA SIGNAL
// Three replicas of data primary code. CODE A: (1,1,1) // Three replicas of data primary code. CODE A: (1,1,1)
memcpy(d_fft_if->get_inbuf(), codeI, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), codeI, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_A,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_I_A, d_fft_if->get_outbuf(), d_fft_size);
// SAME FOR PILOT SIGNAL // SAME FOR PILOT SIGNAL
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
// Three replicas of pilot primary code. CODE A: (1,1,1) // Three replicas of pilot primary code. CODE A: (1,1,1)
memcpy(d_fft_if->get_inbuf(), codeQ, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), codeQ, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_A,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_Q_A, d_fft_if->get_outbuf(), d_fft_size);
} }
// IF INTEGRATION TIME > 1 code, we need to evaluate the other possible combination // IF INTEGRATION TIME > 1 code, we need to evaluate the other possible combination
// Note: max integration time allowed = 3ms (dealt in adapter) // Note: max integration time allowed = 3ms (dealt in adapter)
@ -247,24 +245,24 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
{ {
// DATA CODE B: First replica is inverted (0,1,1) // DATA CODE B: First replica is inverted (0,1,1)
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0], volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0],
&codeI[0], gr_complex(-1,0), &codeI[0], gr_complex(-1, 0),
d_samples_per_code); d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_B,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_I_B, d_fft_if->get_outbuf(), d_fft_size);
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
// PILOT CODE B: First replica is inverted (0,1,1) // PILOT CODE B: First replica is inverted (0,1,1)
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0], volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0],
&codeQ[0], gr_complex(-1,0), &codeQ[0], gr_complex(-1, 0),
d_samples_per_code); d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_B,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_Q_B, d_fft_if->get_outbuf(), d_fft_size);
} }
} }
} }
@ -293,15 +291,15 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GALILEO_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GALILEO_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
/* CAF Filtering to resolve doppler ambiguity. Phase and quadrature must be processed /* CAF Filtering to resolve doppler ambiguity. Phase and quadrature must be processed
@ -309,17 +307,16 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
// if (d_CAF_filter) // if (d_CAF_filter)
if (d_CAF_window_hz > 0) if (d_CAF_window_hz > 0)
{ {
d_CAF_vector = static_cast<float*>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment())); d_CAF_vector = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
d_CAF_vector_I = static_cast<float*>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment())); d_CAF_vector_I = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
d_CAF_vector_Q = static_cast<float*>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment())); d_CAF_vector_Q = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
} }
} }
} }
void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state) void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
{ {
d_state = state; d_state = state;
@ -334,7 +331,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
d_test_statistics = 0.0; d_test_statistics = 0.0;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -342,8 +340,6 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
} }
int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items __attribute__((unused)), int galileo_e5a_noncoherentIQ_acquisition_caf_cc::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,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
@ -417,7 +413,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
if (d_buffer_count < d_fft_size) if (d_buffer_count < d_fft_size)
{ {
memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex)*(d_fft_size-d_buffer_count)); memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex) * (d_fft_size - d_buffer_count));
} }
d_sample_counter += (d_fft_size - d_buffer_count); // sample counter d_sample_counter += (d_fft_size - d_buffer_count); // sample counter
@ -439,7 +435,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -519,15 +515,21 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
if (magt_IA >= magt_IB) if (magt_IA >= magt_IB)
{ {
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;} // if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];
}
if (d_both_signal_components) if (d_both_signal_components)
{ {
// Integrate non-coherently I+Q // Integrate non-coherently I+Q
if (magt_QA >= magt_QB) if (magt_QA >= magt_QB)
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIA[i] += d_magnitudeQA[i]; d_magnitudeIA[i] += d_magnitudeQA[i];
} }
@ -535,8 +537,11 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIA[i] += d_magnitudeQB[i]; d_magnitudeIA[i] += d_magnitudeQB[i];
} }
@ -548,15 +553,21 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IB;} // if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIB[indext_IB];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIB[indext_IB];
}
if (d_both_signal_components) if (d_both_signal_components)
{ {
// Integrate non-coherently I+Q // Integrate non-coherently I+Q
if (magt_QA >= magt_QB) if (magt_QA >= magt_QB)
{ {
//if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;} //if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIB[i] += d_magnitudeQA[i]; d_magnitudeIB[i] += d_magnitudeQA[i];
} }
@ -564,8 +575,11 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIB[i] += d_magnitudeQB[i]; d_magnitudeIB[i] += d_magnitudeQB[i];
} }
@ -578,13 +592,19 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;} // if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];
}
if (d_both_signal_components) if (d_both_signal_components)
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
}
// NON-Coherent integration of only 1 code // NON-Coherent integration of only 1 code
for (unsigned int i=0; i<d_fft_size; i++) for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIA[i] += d_magnitudeQA[i]; d_magnitudeIA[i] += d_magnitudeQA[i];
} }
@ -628,16 +648,16 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{ {
if (magt_IA >= magt_IB) if (magt_IA >= magt_IB)
{ {
d_dump_file.write(reinterpret_cast<char*>(d_magnitudeIA), n); d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA), n);
} }
else else
{ {
d_dump_file.write(reinterpret_cast<char*>(d_magnitudeIB), n); d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIB), n);
} }
} }
else else
{ {
d_dump_file.write(reinterpret_cast<char*>(d_magnitudeIA), n); d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA), n);
} }
d_dump_file.close(); d_dump_file.close();
} }
@ -647,7 +667,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
if (d_CAF_window_hz > 0) if (d_CAF_window_hz > 0)
{ {
int CAF_bins_half; int CAF_bins_half;
float* accum = static_cast<float*>(volk_gnsssdr_malloc(sizeof(float), volk_gnsssdr_get_alignment())); float *accum = static_cast<float *>(volk_gnsssdr_malloc(sizeof(float), volk_gnsssdr_get_alignment()));
CAF_bins_half = d_CAF_window_hz / (2 * d_doppler_step); CAF_bins_half = d_CAF_window_hz / (2 * d_doppler_step);
float weighting_factor; float weighting_factor;
weighting_factor = 0.5 / static_cast<float>(CAF_bins_half); weighting_factor = 0.5 / static_cast<float>(CAF_bins_half);
@ -692,7 +712,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{ {
accum[0] = 0; accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], 2*CAF_bins_half); // volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], 2*CAF_bins_half);
for (int i = doppler_index-CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++) for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++)
{ {
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i))); accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i)));
} }
@ -716,7 +736,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{ {
accum[0] = 0; accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index)); // volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index));
for (int i = doppler_index-CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++) for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++)
{ {
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * (abs(doppler_index - i))); accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * (abs(doppler_index - i)));
} }
@ -738,7 +758,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
filename.str(""); filename.str("");
filename << "../data/test_statistics_E5a_sat_" << d_gnss_synchro->PRN << "_CAF.dat"; filename << "../data/test_statistics_E5a_sat_" << d_gnss_synchro->PRN << "_CAF.dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_CAF_vector), n); d_dump_file.write(reinterpret_cast<char *>(d_CAF_vector), n);
d_dump_file.close(); d_dump_file.close();
} }
volk_gnsssdr_free(accum); volk_gnsssdr_free(accum);
@ -812,4 +832,3 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
return 0; return 0;
} }

23
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -67,7 +67,7 @@ galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class galileo_e5a_noncoherentIQ_acquisition_caf_cc: public gr::block class galileo_e5a_noncoherentIQ_acquisition_caf_cc : public gr::block
{ {
private: private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
@ -97,7 +97,7 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift, void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset); int doppler_offset);
float estimate_input_power(gr_complex *in ); float estimate_input_power(gr_complex* in);
long d_fs_in; long d_fs_in;
long d_freq; long d_freq;
@ -122,7 +122,7 @@ private:
gr_complex* d_inbuffer; gr_complex* d_inbuffer;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -138,14 +138,14 @@ private:
int d_state; int d_state;
bool d_dump; bool d_dump;
bool d_both_signal_components; bool d_both_signal_components;
// bool d_CAF_filter; // bool d_CAF_filter;
int d_CAF_window_hz; int d_CAF_window_hz;
float* d_CAF_vector; float* d_CAF_vector;
float* d_CAF_vector_I; float* d_CAF_vector_I;
float* d_CAF_vector_Q; float* d_CAF_vector_Q;
// double* d_CAF_vector; // double* d_CAF_vector;
// double* d_CAF_vector_I; // double* d_CAF_vector_I;
// double* d_CAF_vector_Q; // double* d_CAF_vector_Q;
unsigned int d_channel; unsigned int d_channel;
std::string d_dump_filename; std::string d_dump_filename;
unsigned int d_buffer_count; unsigned int d_buffer_count;
@ -184,7 +184,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code, std::complex<float> * codeQ); void set_local_code(std::complex<float>* code, std::complex<float>* codeQ);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -243,9 +243,8 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */ #endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */

32
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -45,7 +45,6 @@ galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool dump, std::string dump_filename) bool dump, std::string dump_filename)
{ {
return galileo_pcps_8ms_acquisition_cc_sptr( return galileo_pcps_8ms_acquisition_cc_sptr(
new galileo_pcps_8ms_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms, new galileo_pcps_8ms_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, dump, dump_filename)); samples_per_code, dump, dump_filename));
@ -55,8 +54,7 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
unsigned int sampled_ms, unsigned int max_dwells, unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in, unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool dump, std::string dump_filename) : bool dump, std::string dump_filename) : gr::block("galileo_pcps_8ms_acquisition_cc",
gr::block("galileo_pcps_8ms_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -77,9 +75,9 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
d_fft_code_A = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_B = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -126,10 +124,10 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
} }
} }
void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> * code) void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
// code A: two replicas of a primary code // code A: two replicas of a primary code
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -138,7 +136,7 @@ void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> * code)
// code B: two replicas of a primary code; the second replica is inverted. // code B: two replicas of a primary code; the second replica is inverted.
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code], volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code],
&code[d_samples_per_code], gr_complex(-1,0), &code[d_samples_per_code], gr_complex(-1, 0),
d_samples_per_code); d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -170,15 +168,15 @@ void galileo_pcps_8ms_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = static_cast<float>(GALILEO_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = static_cast<float>(GALILEO_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
@ -197,7 +195,8 @@ void galileo_pcps_8ms_acquisition_cc::set_state(int state)
d_test_statistics = 0.0; d_test_statistics = 0.0;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -205,7 +204,6 @@ void galileo_pcps_8ms_acquisition_cc::set_state(int state)
} }
int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items, int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
@ -256,7 +254,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -339,10 +337,10 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }

12
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -53,7 +53,7 @@ galileo_pcps_8ms_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_d
* \brief This class implements a Parallel Code Phase Search Acquisition for * \brief This class implements a Parallel Code Phase Search Acquisition for
* Galileo E1 signals with coherent integration time = 8 ms (two codes) * Galileo E1 signals with coherent integration time = 8 ms (two codes)
*/ */
class galileo_pcps_8ms_acquisition_cc: public gr::block class galileo_pcps_8ms_acquisition_cc : public gr::block
{ {
private: private:
friend galileo_pcps_8ms_acquisition_cc_sptr friend galileo_pcps_8ms_acquisition_cc_sptr
@ -91,7 +91,7 @@ private:
gr_complex* d_fft_code_B; gr_complex* d_fft_code_B;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -138,7 +138,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -197,9 +197,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/ #endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/

20
src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
void wait3(int seconds) void wait3(int seconds)
{ {
boost::this_thread::sleep_for(boost::chrono::seconds boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
{ seconds });
} }
@ -102,8 +101,7 @@ gps_pcps_acquisition_fpga_sc::gps_pcps_acquisition_fpga_sc(
d_gnss_synchro = 0; d_gnss_synchro = 0;
// instantiate HW accelerator class // instantiate HW accelerator class
acquisition_fpga_8sc = std::make_shared < gps_fpga_acquisition_8sc> acquisition_fpga_8sc = std::make_shared<gps_fpga_acquisition_8sc>(device_name, vector_length, d_fft_size, nsamples_total, fs_in, freq, sampled_ms, select_queue_Fpga);
(device_name, vector_length, d_fft_size, nsamples_total, fs_in, freq, sampled_ms, select_queue_Fpga);
} }
@ -136,9 +134,7 @@ void gps_pcps_acquisition_fpga_sc::init()
d_mag = 0.0; d_mag = 0.0;
d_num_doppler_bins = ceil( d_num_doppler_bins = ceil(
static_cast<double>(static_cast<int>(d_doppler_max) static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
- static_cast<int>(-d_doppler_max))
/ static_cast<double>(d_doppler_step));
acquisition_fpga_8sc->open_device(); acquisition_fpga_8sc->open_device();
@ -198,7 +194,8 @@ void gps_pcps_acquisition_fpga_sc::set_active(bool active)
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " , doing acquisition of satellite: " << d_gnss_synchro->System
<< " " << d_gnss_synchro->PRN << " ,sample stamp: " << " " << d_gnss_synchro->PRN << " ,sample stamp: "
<< d_sample_counter << ", threshold: " << ", threshold: " << d_sample_counter << ", threshold: "
<< ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -206,9 +203,7 @@ void gps_pcps_acquisition_fpga_sc::set_active(bool active)
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins;
doppler_index++) doppler_index++)
{ {
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
doppler = -static_cast<int>(d_doppler_max)
+ d_doppler_step * doppler_index;
acquisition_fpga_8sc->set_phase_step(doppler_index); acquisition_fpga_8sc->set_phase_step(doppler_index);
acquisition_fpga_8sc->run_acquisition(); // runs acquisition and waits until it is finished acquisition_fpga_8sc->run_acquisition(); // runs acquisition and waits until it is finished
@ -224,8 +219,7 @@ void gps_pcps_acquisition_fpga_sc::set_active(bool active)
peak_to_noise_level = temp_peak_to_noise_level; peak_to_noise_level = temp_peak_to_noise_level;
d_mag = magt; d_mag = magt;
input_power = (input_power - d_mag) input_power = (input_power - d_mag) / (effective_fft_size - 1);
/ (effective_fft_size - 1);
d_gnss_synchro->Acq_delay_samples = d_gnss_synchro->Acq_delay_samples =
static_cast<double>(indext % d_samples_per_code); static_cast<double>(indext % d_samples_per_code);

13
src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.h
View File

@ -107,9 +107,13 @@ private:
unsigned int d_num_doppler_bins; unsigned int d_num_doppler_bins;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro *d_gnss_synchro;
float d_mag;bool d_bit_transition_flag;bool d_use_CFAR_algorithm_flag; float d_mag;
std::ofstream d_dump_file;bool d_active; bool d_bit_transition_flag;
int d_state;bool d_dump; bool d_use_CFAR_algorithm_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
unsigned int d_channel; unsigned int d_channel;
std::string d_dump_filename; std::string d_dump_filename;
@ -126,7 +130,7 @@ public:
* to exchange synchronization data between acquisition and tracking blocks. * to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks. * \param p_gnss_synchro Satellite information shared by the processing blocks.
*/ */
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) inline void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{ {
d_gnss_synchro = p_gnss_synchro; d_gnss_synchro = p_gnss_synchro;
} }
@ -209,7 +213,6 @@ public:
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items); gr_vector_void_star &output_items);
}; };
#endif /* GNSS_SDR_PCPS_ACQUISITION_SC_H_*/ #endif /* GNSS_SDR_PCPS_ACQUISITION_SC_H_*/

82
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -65,10 +65,9 @@ pcps_acquisition::pcps_acquisition(
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool bit_transition_flag, bool use_CFAR_algorithm_flag, bool bit_transition_flag, bool use_CFAR_algorithm_flag,
bool dump, bool blocking, bool dump, bool blocking,
std::string dump_filename, size_t it_size) : std::string dump_filename, size_t it_size) : gr::block("pcps_acquisition",
gr::block("pcps_acquisition", gr::io_signature::make(1, 1, it_size * sampled_ms * samples_per_ms * (bit_transition_flag ? 2 : 1)),
gr::io_signature::make(1, 1, it_size * sampled_ms * samples_per_ms * ( bit_transition_flag ? 2 : 1 )), gr::io_signature::make(0, 0, it_size * sampled_ms * samples_per_ms * (bit_transition_flag ? 2 : 1)))
gr::io_signature::make(0, 0, it_size * sampled_ms * samples_per_ms * ( bit_transition_flag ? 2 : 1 )) )
{ {
this->message_port_register_out(pmt::mp("events")); this->message_port_register_out(pmt::mp("events"));
@ -95,8 +94,14 @@ pcps_acquisition::pcps_acquisition(
d_code_phase = 0; d_code_phase = 0;
d_test_statistics = 0.0; d_test_statistics = 0.0;
d_channel = 0; d_channel = 0;
if(it_size == sizeof(gr_complex)) { d_cshort = false; } if (it_size == sizeof(gr_complex))
else { d_cshort = true; } {
d_cshort = false;
}
else
{
d_cshort = true;
}
// COD: // COD:
// Experimenting with the overlap/save technique for handling bit trannsitions // Experimenting with the overlap/save technique for handling bit trannsitions
@ -108,7 +113,7 @@ pcps_acquisition::pcps_acquisition(
// //
// We can avoid this by doing linear correlation, effectively doubling the // We can avoid this by doing linear correlation, effectively doubling the
// size of the input buffer and padding the code with zeros. // size of the input buffer and padding the code with zeros.
if( d_bit_transition_flag ) if (d_bit_transition_flag)
{ {
d_fft_size *= 2; d_fft_size *= 2;
d_max_dwells = 1; //Activation of d_bit_transition_flag invalidates the value of d_max_dwells d_max_dwells = 1; //Activation of d_bit_transition_flag invalidates the value of d_max_dwells
@ -131,7 +136,7 @@ pcps_acquisition::pcps_acquisition(
d_blocking = blocking; d_blocking = blocking;
d_worker_active = false; d_worker_active = false;
d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
if(d_cshort) if (d_cshort)
{ {
d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_fft_size * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_fft_size * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
} }
@ -158,16 +163,19 @@ pcps_acquisition::~pcps_acquisition()
delete d_ifft; delete d_ifft;
delete d_fft_if; delete d_fft_if;
volk_gnsssdr_free(d_data_buffer); volk_gnsssdr_free(d_data_buffer);
if(d_cshort) { volk_gnsssdr_free(d_data_buffer_sc); } if (d_cshort)
{
volk_gnsssdr_free(d_data_buffer_sc);
}
} }
void pcps_acquisition::set_local_code(std::complex<float> * code) void pcps_acquisition::set_local_code(std::complex<float>* code)
{ {
// reset the intermediate frequency // reset the intermediate frequency
d_freq = d_old_freq; d_freq = d_old_freq;
// This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
if( is_fdma() ) if (is_fdma())
{ {
update_grid_doppler_wipeoffs(); update_grid_doppler_wipeoffs();
} }
@ -176,10 +184,10 @@ void pcps_acquisition::set_local_code(std::complex<float> * code)
// [ 0 0 0 ... 0 c_0 c_1 ... c_L] // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
// where c_i is the local code and there are L zeros and L chips // where c_i is the local code and there are L zeros and L chips
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
if( d_bit_transition_flag ) if (d_bit_transition_flag)
{ {
int offset = d_fft_size / 2; int offset = d_fft_size / 2;
std::fill_n( d_fft_if->get_inbuf(), offset, gr_complex( 0.0, 0.0 ) ); std::fill_n(d_fft_if->get_inbuf(), offset, gr_complex(0.0, 0.0));
memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset); memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset);
} }
else else
@ -195,7 +203,7 @@ void pcps_acquisition::set_local_code(std::complex<float> * code)
bool pcps_acquisition::is_fdma() bool pcps_acquisition::is_fdma()
{ {
// Dealing with FDMA system // Dealing with FDMA system
if( strcmp(d_gnss_synchro->Signal,"1G") == 0 ) if (strcmp(d_gnss_synchro->Signal, "1G") == 0)
{ {
d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN); d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl; LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
@ -213,7 +221,7 @@ void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int corr
float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, - phase_step_rad, _phase, correlator_length_samples); volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
} }
@ -230,7 +238,7 @@ void pcps_acquisition::init()
d_mag = 0.0; d_mag = 0.0;
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = static_cast<unsigned int>(std::ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step))); d_num_doppler_bins = static_cast<unsigned int>(std::ceil(static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step)));
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
@ -243,7 +251,7 @@ void pcps_acquisition::init()
} }
d_worker_active = false; d_worker_active = false;
if(d_dump) if (d_dump)
{ {
unsigned int effective_fft_size = (d_bit_transition_flag ? (d_fft_size / 2) : d_fft_size); unsigned int effective_fft_size = (d_bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros); grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
@ -278,7 +286,8 @@ void pcps_acquisition::set_state(int state)
d_active = true; d_active = true;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -323,8 +332,8 @@ void pcps_acquisition::send_negative_acquisition()
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)), int pcps_acquisition::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,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star& output_items __attribute__((unused)))
{ {
/* /*
* By J.Arribas, L.Esteve and M.Molina * By J.Arribas, L.Esteve and M.Molina
@ -338,14 +347,14 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
*/ */
gr::thread::scoped_lock lk(d_setlock); gr::thread::scoped_lock lk(d_setlock);
if(!d_active || d_worker_active) if (!d_active || d_worker_active)
{ {
d_sample_counter += d_fft_size * ninput_items[0]; d_sample_counter += d_fft_size * ninput_items[0];
consume_each(ninput_items[0]); consume_each(ninput_items[0]);
return 0; return 0;
} }
switch(d_state) switch (d_state)
{ {
case 0: case 0:
{ {
@ -366,9 +375,15 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
case 1: case 1:
{ {
// Copy the data to the core and let it know that new data is available // Copy the data to the core and let it know that new data is available
if(d_cshort) { memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t)); } if (d_cshort)
else { memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex)); } {
if(d_blocking) memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t));
}
else
{
memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex));
}
if (d_blocking)
{ {
lk.unlock(); lk.unlock();
acquisition_core(d_sample_counter); acquisition_core(d_sample_counter);
@ -387,7 +402,7 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
} }
void pcps_acquisition::acquisition_core( unsigned long int samp_count ) void pcps_acquisition::acquisition_core(unsigned long int samp_count)
{ {
gr::thread::scoped_lock lk(d_setlock); gr::thread::scoped_lock lk(d_setlock);
@ -396,8 +411,11 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
const gr_complex* in = d_data_buffer; //Get the input samples pointer const gr_complex* in = d_data_buffer; //Get the input samples pointer
int effective_fft_size = ( d_bit_transition_flag ? d_fft_size/2 : d_fft_size ); int effective_fft_size = (d_bit_transition_flag ? d_fft_size / 2 : d_fft_size);
if(d_cshort) { volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_fft_size); } if (d_cshort)
{
volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_fft_size);
}
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size); float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0; d_input_power = 0.0;
@ -409,7 +427,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
<< " ,sample stamp: " << samp_count << ", threshold: " << " ,sample stamp: " << samp_count << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step << ", doppler_step: " << d_doppler_step
<< ", use_CFAR_algorithm_flag: " << ( d_use_CFAR_algorithm_flag ? "true" : "false" ); << ", use_CFAR_algorithm_flag: " << (d_use_CFAR_algorithm_flag ? "true" : "false");
lk.unlock(); lk.unlock();
if (d_use_CFAR_algorithm_flag) if (d_use_CFAR_algorithm_flag)
@ -439,7 +457,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
d_ifft->execute(); d_ifft->execute();
// Search maximum // Search maximum
size_t offset = ( d_bit_transition_flag ? effective_fft_size : 0 ); size_t offset = (d_bit_transition_flag ? effective_fft_size : 0);
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf() + offset, effective_fft_size); volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, effective_fft_size); volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, effective_fft_size);
magt = d_magnitude[indext]; magt = d_magnitude[indext];
@ -484,7 +502,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
if (d_dump) if (d_dump)
{ {
memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size); memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size);
if(doppler_index == (d_num_doppler_bins - 1)) if (doppler_index == (d_num_doppler_bins - 1))
{ {
std::string filename = d_dump_filename; std::string filename = d_dump_filename;
filename.append("_"); filename.append("_");
@ -496,7 +514,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
filename.append(std::to_string(d_gnss_synchro->PRN)); filename.append(std::to_string(d_gnss_synchro->PRN));
filename.append(".mat"); filename.append(".mat");
mat_t* matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); mat_t* matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if(matfp == NULL) if (matfp == NULL)
{ {
std::cout << "Unable to create or open Acquisition dump file" << std::endl; std::cout << "Unable to create or open Acquisition dump file" << std::endl;
d_dump = false; d_dump = false;

13
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -78,7 +78,7 @@ pcps_make_acquisition(unsigned int sampled_ms, unsigned int max_dwells,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_acquisition: public gr::block class pcps_acquisition : public gr::block
{ {
private: private:
friend pcps_acquisition_sptr friend pcps_acquisition_sptr
@ -100,7 +100,7 @@ private:
void update_grid_doppler_wipeoffs(); void update_grid_doppler_wipeoffs();
bool is_fdma(); bool is_fdma();
void acquisition_core( unsigned long int samp_count ); void acquisition_core(unsigned long int samp_count);
void send_negative_acquisition(); void send_negative_acquisition();
@ -175,7 +175,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -239,10 +239,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/ #endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/

49
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -49,7 +49,6 @@ pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(
long fs_in, int samples_per_ms, bool dump, long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) std::string dump_filename)
{ {
return pcps_acquisition_fine_doppler_cc_sptr( return pcps_acquisition_fine_doppler_cc_sptr(
new pcps_acquisition_fine_doppler_cc(max_dwells, sampled_ms, doppler_max, doppler_min, freq, new pcps_acquisition_fine_doppler_cc(max_dwells, sampled_ms, doppler_max, doppler_min, freq,
fs_in, samples_per_ms, dump, dump_filename)); fs_in, samples_per_ms, dump, dump_filename));
@ -59,8 +58,7 @@ pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(
pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc( pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq, int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, bool dump, long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) : std::string dump_filename) : gr::block("pcps_acquisition_fine_doppler_cc",
gr::block("pcps_acquisition_fine_doppler_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex))) gr::io_signature::make(0, 0, sizeof(gr_complex)))
{ {
@ -79,9 +77,9 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
d_gnuradio_forecast_samples = d_fft_size; d_gnuradio_forecast_samples = d_fft_size;
d_input_power = 0.0; d_input_power = 0.0;
d_state = 0; d_state = 0;
d_carrier = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -115,10 +113,10 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
d_num_doppler_points = floor(std::abs(d_config_doppler_max - d_config_doppler_min) / d_doppler_step); d_num_doppler_points = floor(std::abs(d_config_doppler_max - d_config_doppler_min) / d_doppler_step);
d_grid_data = new float*[d_num_doppler_points]; d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
d_grid_data[i] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_grid_data[i] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
} }
update_carrier_wipeoff(); update_carrier_wipeoff();
} }
@ -151,7 +149,7 @@ pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
} }
void pcps_acquisition_fine_doppler_cc::set_local_code(std::complex<float> * code) void pcps_acquisition_fine_doppler_cc::set_local_code(std::complex<float> *code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -175,12 +173,12 @@ void pcps_acquisition_fine_doppler_cc::init()
} }
void pcps_acquisition_fine_doppler_cc::forecast (int noutput_items, void pcps_acquisition_fine_doppler_cc::forecast(int noutput_items,
gr_vector_int &ninput_items_required) gr_vector_int &ninput_items_required)
{ {
if (noutput_items != 0) if (noutput_items != 0)
{ {
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call ninput_items_required[0] = d_gnuradio_forecast_samples; //set the required available samples in each call
} }
} }
@ -203,17 +201,17 @@ void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
// create the carrier Doppler wipeoff signals // create the carrier Doppler wipeoff signals
int doppler_hz; int doppler_hz;
float phase_step_rad; float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_points]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
doppler_hz = d_config_doppler_min + d_doppler_step*doppler_index; doppler_hz = d_config_doppler_min + d_doppler_step * doppler_index;
// doppler search steps // doppler search steps
// compute the carrier doppler wipe-off signal and store it // compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * ( d_freq + doppler_hz ) / static_cast<float>(d_fs_in); phase_step_rad = static_cast<float>(GPS_TWO_PI) * (d_freq + doppler_hz) / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size]; d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
@ -226,7 +224,7 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
uint32_t tmp_intex_t = 0; uint32_t tmp_intex_t = 0;
uint32_t index_time = 0; uint32_t index_time = 0;
for (int i=0;i<d_num_doppler_points;i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size); volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt) if (d_grid_data[i][tmp_intex_t] > magt)
@ -243,7 +241,7 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
magt = magt / (fft_normalization_factor * fft_normalization_factor); magt = magt / (fft_normalization_factor * fft_normalization_factor);
// 5- Compute the test statistics and compare to the threshold // 5- Compute the test statistics and compare to the threshold
d_test_statistics = magt/(d_input_power*std::sqrt(d_well_count)); d_test_statistics = magt / (d_input_power * std::sqrt(d_well_count));
// 4- record the maximum peak and the associated synchronization parameters // 4- record the maximum peak and the associated synchronization parameters
d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time); d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time);
@ -257,11 +255,10 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
| std::ios::binary); d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char*>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
@ -287,13 +284,13 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_config_doppler_max << d_threshold << ", doppler_max: " << d_config_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
// 2- Doppler frequency search loop // 2- Doppler frequency search loop
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
@ -314,7 +311,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
// save the grid matrix delay file // save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size); volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float* old_vector = d_grid_data[doppler_index]; const float *old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size); volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
} }
@ -334,7 +331,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0)); std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0));
//1. generate local code aligned with the acquisition code phase estimation //1. generate local code aligned with the acquisition code phase estimation
gr_complex *code_replica = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex *code_replica = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0); gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
@ -355,7 +352,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
fft_operator->execute(); fft_operator->execute();
// 4. Compute the magnitude and find the maximum // 4. Compute the magnitude and find the maximum
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(fft_size_extended * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(fft_size_extended * sizeof(float), volk_gnsssdr_get_alignment()));
volk_32fc_magnitude_squared_32f(p_tmp_vector, fft_operator->get_outbuf(), fft_size_extended); volk_32fc_magnitude_squared_32f(p_tmp_vector, fft_operator->get_outbuf(), fft_size_extended);

22
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -58,7 +58,7 @@
class pcps_acquisition_fine_doppler_cc; class pcps_acquisition_fine_doppler_cc;
typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc> typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc>
pcps_acquisition_fine_doppler_cc_sptr; pcps_acquisition_fine_doppler_cc_sptr;
pcps_acquisition_fine_doppler_cc_sptr pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms, pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
@ -72,7 +72,7 @@ pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_acquisition_fine_doppler_cc: public gr::block class pcps_acquisition_fine_doppler_cc : public gr::block
{ {
private: private:
friend pcps_acquisition_fine_doppler_cc_sptr friend pcps_acquisition_fine_doppler_cc_sptr
@ -89,9 +89,9 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift, void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset); int doppler_offset);
int compute_and_accumulate_grid(gr_vector_const_void_star &input_items); int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler(gr_vector_const_void_star &input_items); int estimate_Doppler(gr_vector_const_void_star& input_items);
float estimate_input_power(gr_vector_const_void_star &input_items); float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum(); double search_maximum();
void reset_grid(); void reset_grid();
void update_carrier_wipeoff(); void update_carrier_wipeoff();
@ -122,7 +122,7 @@ private:
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_input_power; float d_input_power;
@ -169,7 +169,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -218,11 +218,11 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required); void forecast(int noutput_items, gr_vector_int& ninput_items_required);
}; };
#endif /* pcps_acquisition_fine_doppler_cc*/ #endif /* pcps_acquisition_fine_doppler_cc*/

69
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -56,12 +56,10 @@ pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
} }
pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc( pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq, int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, bool dump, long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) : std::string dump_filename) : gr::block("pcps_assisted_acquisition_cc",
gr::block("pcps_assisted_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex))) gr::io_signature::make(0, 0, sizeof(gr_complex)))
{ {
@ -77,12 +75,12 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
d_fft_size = d_sampled_ms * d_samples_per_ms; d_fft_size = d_sampled_ms * d_samples_per_ms;
// HS Acquisition // HS Acquisition
d_max_dwells = max_dwells; d_max_dwells = max_dwells;
d_gnuradio_forecast_samples = d_fft_size*4; d_gnuradio_forecast_samples = d_fft_size * 4;
d_input_power = 0.0; d_input_power = 0.0;
d_state = 0; d_state = 0;
d_disable_assist = false; d_disable_assist = false;
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_carrier = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -111,14 +109,12 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
} }
void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step) void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step)
{ {
d_doppler_step = doppler_step; d_doppler_step = doppler_step;
} }
void pcps_assisted_acquisition_cc::free_grid_memory() void pcps_assisted_acquisition_cc::free_grid_memory()
{ {
for (int i = 0; i < d_num_doppler_points; i++) for (int i = 0; i < d_num_doppler_points; i++)
@ -130,7 +126,6 @@ void pcps_assisted_acquisition_cc::free_grid_memory()
} }
pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc() pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
{ {
volk_gnsssdr_free(d_carrier); volk_gnsssdr_free(d_carrier);
@ -144,14 +139,12 @@ pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
} }
void pcps_assisted_acquisition_cc::set_local_code(std::complex<float> *code)
void pcps_assisted_acquisition_cc::set_local_code(std::complex<float> * code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
} }
void pcps_assisted_acquisition_cc::init() void pcps_assisted_acquisition_cc::init()
{ {
d_gnss_synchro->Flag_valid_acquisition = false; d_gnss_synchro->Flag_valid_acquisition = false;
@ -172,28 +165,26 @@ void pcps_assisted_acquisition_cc::init()
} }
void pcps_assisted_acquisition_cc::forecast(int noutput_items,
void pcps_assisted_acquisition_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required) gr_vector_int &ninput_items_required)
{ {
if (noutput_items != 0) if (noutput_items != 0)
{ {
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call ninput_items_required[0] = d_gnuradio_forecast_samples; //set the required available samples in each call
} }
} }
void pcps_assisted_acquisition_cc::get_assistance() void pcps_assisted_acquisition_cc::get_assistance()
{ {
Gps_Acq_Assist gps_acq_assisistance; Gps_Acq_Assist gps_acq_assisistance;
if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN, gps_acq_assisistance)==true) if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN, gps_acq_assisistance) == true)
{ {
//TODO: use the LO tolerance here //TODO: use the LO tolerance here
if (gps_acq_assisistance.dopplerUncertainty >= 1000) if (gps_acq_assisistance.dopplerUncertainty >= 1000)
{ {
d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty*2; d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty * 2;
d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty*2; d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty * 2;
} }
else else
{ {
@ -201,18 +192,17 @@ void pcps_assisted_acquisition_cc::get_assistance()
d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000; d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000;
} }
this->d_disable_assist = false; this->d_disable_assist = false;
std::cout << "Acq assist ENABLED for GPS SV "<< this->d_gnss_synchro->PRN <<" (Doppler max,Doppler min)=(" std::cout << "Acq assist ENABLED for GPS SV " << this->d_gnss_synchro->PRN << " (Doppler max,Doppler min)=("
<< d_doppler_max << "," << d_doppler_min << ")" << std::endl; << d_doppler_max << "," << d_doppler_min << ")" << std::endl;
} }
else else
{ {
this->d_disable_assist = true; this->d_disable_assist = true;
std::cout << "Acq assist DISABLED for GPS SV "<< this->d_gnss_synchro->PRN << std::endl; std::cout << "Acq assist DISABLED for GPS SV " << this->d_gnss_synchro->PRN << std::endl;
} }
} }
void pcps_assisted_acquisition_cc::reset_grid() void pcps_assisted_acquisition_cc::reset_grid()
{ {
d_well_count = 0; d_well_count = 0;
@ -226,7 +216,6 @@ void pcps_assisted_acquisition_cc::reset_grid()
} }
void pcps_assisted_acquisition_cc::redefine_grid() void pcps_assisted_acquisition_cc::redefine_grid()
{ {
if (this->d_disable_assist == true) if (this->d_disable_assist == true)
@ -237,7 +226,7 @@ void pcps_assisted_acquisition_cc::redefine_grid()
// Create the search grid array // Create the search grid array
d_num_doppler_points = floor(std::abs(d_doppler_max - d_doppler_min) / d_doppler_step); d_num_doppler_points = floor(std::abs(d_doppler_max - d_doppler_min) / d_doppler_step);
d_grid_data = new float*[d_num_doppler_points]; d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
d_grid_data[i] = new float[d_fft_size]; d_grid_data[i] = new float[d_fft_size];
@ -246,22 +235,21 @@ void pcps_assisted_acquisition_cc::redefine_grid()
// create the carrier Doppler wipeoff signals // create the carrier Doppler wipeoff signals
int doppler_hz; int doppler_hz;
float phase_step_rad; float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_points]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
doppler_hz = d_doppler_min + d_doppler_step*doppler_index; doppler_hz = d_doppler_min + d_doppler_step * doppler_index;
// doppler search steps // doppler search steps
// compute the carrier doppler wipe-off signal and store it // compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in); phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size]; d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
double pcps_assisted_acquisition_cc::search_maximum() double pcps_assisted_acquisition_cc::search_maximum()
{ {
float magt = 0.0; float magt = 0.0;
@ -270,9 +258,9 @@ double pcps_assisted_acquisition_cc::search_maximum()
uint32_t tmp_intex_t = 0; uint32_t tmp_intex_t = 0;
uint32_t index_time = 0; uint32_t index_time = 0;
for (int i=0;i<d_num_doppler_points;i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t,d_grid_data[i],d_fft_size); volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt) if (d_grid_data[i][tmp_intex_t] > magt)
{ {
magt = d_grid_data[i][index_time]; magt = d_grid_data[i][index_time];
@ -303,7 +291,7 @@ double pcps_assisted_acquisition_cc::search_maximum()
<< "_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
@ -311,24 +299,22 @@ double pcps_assisted_acquisition_cc::search_maximum()
} }
float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_star &input_items) float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_star &input_items)
{ {
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
// 1- Compute the input signal power estimation // 1- Compute the input signal power estimation
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
volk_32fc_magnitude_squared_32f(p_tmp_vector, in, d_fft_size); volk_32fc_magnitude_squared_32f(p_tmp_vector, in, d_fft_size);
const float* p_const_tmp_vector = p_tmp_vector; const float *p_const_tmp_vector = p_tmp_vector;
float power; float power;
volk_32f_accumulator_s32f(&power, p_const_tmp_vector, d_fft_size); volk_32f_accumulator_s32f(&power, p_const_tmp_vector, d_fft_size);
volk_gnsssdr_free(p_tmp_vector); volk_gnsssdr_free(p_tmp_vector);
return ( power / static_cast<float>(d_fft_size)); return (power / static_cast<float>(d_fft_size));
} }
int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items) int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
{ {
// initialize acquisition algorithm // initialize acquisition algorithm
@ -342,7 +328,7 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
// 2- Doppler frequency search loop // 2- Doppler frequency search loop
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
@ -362,7 +348,7 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
// save the grid matrix delay file // save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size); volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float* old_vector = d_grid_data[doppler_index]; const float *old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size); volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
} }
volk_gnsssdr_free(p_tmp_vector); volk_gnsssdr_free(p_tmp_vector);
@ -370,7 +356,6 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
} }
int pcps_assisted_acquisition_cc::general_work(int noutput_items, int pcps_assisted_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
@ -413,7 +398,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
d_well_count++; d_well_count++;
if (d_well_count >= d_max_dwells) if (d_well_count >= d_max_dwells)
{ {
d_state=3; d_state = 3;
} }
d_sample_counter += consumed_samples; d_sample_counter += consumed_samples;
consume_each(consumed_samples); consume_each(consumed_samples);
@ -430,7 +415,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
if (d_disable_assist == false) if (d_disable_assist == false)
{ {
d_disable_assist = true; d_disable_assist = true;
std::cout << "Acq assist DISABLED for GPS SV "<< this->d_gnss_synchro->PRN << std::endl; std::cout << "Acq assist DISABLED for GPS SV " << this->d_gnss_synchro->PRN << std::endl;
d_state = 4; d_state = 4;
} }
else else

20
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
View File

@ -58,7 +58,7 @@
class pcps_assisted_acquisition_cc; class pcps_assisted_acquisition_cc;
typedef boost::shared_ptr<pcps_assisted_acquisition_cc> typedef boost::shared_ptr<pcps_assisted_acquisition_cc>
pcps_assisted_acquisition_cc_sptr; pcps_assisted_acquisition_cc_sptr;
pcps_assisted_acquisition_cc_sptr pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms, pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
@ -71,7 +71,7 @@ pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_assisted_acquisition_cc: public gr::block class pcps_assisted_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_assisted_acquisition_cc_sptr friend pcps_assisted_acquisition_cc_sptr
@ -88,8 +88,8 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift, void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset); int doppler_offset);
int compute_and_accumulate_grid(gr_vector_const_void_star &input_items); int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
float estimate_input_power(gr_vector_const_void_star &input_items); float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum(); double search_maximum();
void get_assistance(); void get_assistance();
void reset_grid(); void reset_grid();
@ -122,7 +122,7 @@ private:
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_input_power; float d_input_power;
@ -170,7 +170,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -219,11 +219,11 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required); void forecast(int noutput_items, gr_vector_int& ninput_items_required);
}; };
#endif /* GNSS_SDR_PCPS_assisted_acquisition_cc_H_*/ #endif /* GNSS_SDR_PCPS_assisted_acquisition_cc_H_*/

43
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -61,8 +61,7 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
unsigned int sampled_ms, unsigned int max_dwells, unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in, unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool dump, std::string dump_filename) : bool dump, std::string dump_filename) : gr::block("pcps_cccwsr_acquisition_cc",
gr::block("pcps_cccwsr_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -83,13 +82,13 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
d_fft_code_data = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_data = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_pilot = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_pilot = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_data_correlation = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_data_correlation = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_pilot_correlation = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_pilot_correlation = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_correlation_plus = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_correlation_plus = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_correlation_minus = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_correlation_minus = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -140,8 +139,8 @@ pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
} }
} }
void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float>* code_data, void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
std::complex<float>* code_pilot) std::complex<float> *code_pilot)
{ {
// Data code (E1B) // Data code (E1B)
memcpy(d_fft_if->get_inbuf(), code_data, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code_data, sizeof(gr_complex) * d_fft_size);
@ -149,7 +148,7 @@ void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float>* code_data,
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_data,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_data, d_fft_if->get_outbuf(), d_fft_size);
// Pilot code (E1C) // Pilot code (E1C)
memcpy(d_fft_if->get_inbuf(), code_pilot, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code_pilot, sizeof(gr_complex) * d_fft_size);
@ -183,16 +182,16 @@ void pcps_cccwsr_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
@ -211,7 +210,8 @@ void pcps_cccwsr_acquisition_cc::set_state(int state)
d_test_statistics = 0.0; d_test_statistics = 0.0;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -223,7 +223,6 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
{ {
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state) switch (d_state)
@ -268,7 +267,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -303,7 +302,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
// Copy the result of the correlation between wiped--off signal and data code in // Copy the result of the correlation between wiped--off signal and data code in
// d_data_correlation. // d_data_correlation.
memcpy(d_data_correlation, d_ifft->get_outbuf(), sizeof(gr_complex)*d_fft_size); memcpy(d_data_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
// Multiply carrier wiped--off, Fourier transformed incoming signal // Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd pilot code reference (E1C) using SIMD operations // with the local FFT'd pilot code reference (E1C) using SIMD operations
@ -316,7 +315,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
// Copy the result of the correlation between wiped--off signal and pilot code in // Copy the result of the correlation between wiped--off signal and pilot code in
// d_data_correlation. // d_data_correlation.
memcpy(d_pilot_correlation, d_ifft->get_outbuf(), sizeof(gr_complex)*d_fft_size); memcpy(d_pilot_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
for (unsigned int i = 0; i < d_fft_size; i++) for (unsigned int i = 0; i < d_fft_size; i++)
{ {
@ -364,10 +363,10 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }

12
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
View File

@ -59,7 +59,7 @@ pcps_cccwsr_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells
* \brief This class implements a Parallel Code Phase Search Acquisition with * \brief This class implements a Parallel Code Phase Search Acquisition with
* Coherent Channel Combining With Sign Recovery scheme. * Coherent Channel Combining With Sign Recovery scheme.
*/ */
class pcps_cccwsr_acquisition_cc: public gr::block class pcps_cccwsr_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_cccwsr_acquisition_cc_sptr friend pcps_cccwsr_acquisition_cc_sptr
@ -96,7 +96,7 @@ private:
gr_complex* d_fft_code_pilot; gr_complex* d_fft_code_pilot;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -148,7 +148,7 @@ public:
* \param data_code - Pointer to the data PRN code. * \param data_code - Pointer to the data PRN code.
* \param pilot_code - Pointer to the pilot PRN code. * \param pilot_code - Pointer to the pilot PRN code.
*/ */
void set_local_code(std::complex<float> * code_data, std::complex<float> * code_pilot); void set_local_code(std::complex<float>* code_data, std::complex<float>* code_pilot);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -207,9 +207,9 @@ public:
/*! /*!
* \brief Coherent Channel Combining With Sign Recovery Acquisition signal processing. * \brief Coherent Channel Combining With Sign Recovery Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_*/ #endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_*/

128
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -58,8 +58,8 @@
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h" #include "control_message_factory.h"
#include "fft_base_kernels.h" #include "opencl/fft_base_kernels.h"
#include "fft_internal.h" #include "opencl/fft_internal.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI #include "GPS_L1_CA.h" //GPS_TWO_PI
@ -73,7 +73,6 @@ pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
bool dump, bool dump,
std::string dump_filename) std::string dump_filename)
{ {
return pcps_opencl_acquisition_cc_sptr( return pcps_opencl_acquisition_cc_sptr(
new pcps_opencl_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms, new pcps_opencl_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, bit_transition_flag, dump, dump_filename)); samples_per_code, bit_transition_flag, dump, dump_filename));
@ -85,8 +84,7 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool bit_transition_flag, bool bit_transition_flag,
bool dump, bool dump,
std::string dump_filename) : std::string dump_filename) : gr::block("pcps_opencl_acquisition_cc",
gr::block("pcps_opencl_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -112,18 +110,18 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
d_in_dwell_count = 0; d_in_dwell_count = 0;
d_cl_fft_batch_size = 1; d_cl_fft_batch_size = 1;
d_in_buffer = new gr_complex*[d_max_dwells]; d_in_buffer = new gr_complex *[d_max_dwells];
for (unsigned int i = 0; i < d_max_dwells; i++) for (unsigned int i = 0; i < d_max_dwells; i++)
{ {
d_in_buffer[i] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_in_buffer[i] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
} }
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size_pow2 * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size_pow2 * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_zero_vector = static_cast<gr_complex*>(volk_gnsssdr_malloc((d_fft_size_pow2 - d_fft_size) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_zero_vector = static_cast<gr_complex *>(volk_gnsssdr_malloc((d_fft_size_pow2 - d_fft_size) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (unsigned int i = 0; i < (d_fft_size_pow2-d_fft_size); i++) for (unsigned int i = 0; i < (d_fft_size_pow2 - d_fft_size); i++)
{ {
d_zero_vector[i] = gr_complex(0.0,0.0); d_zero_vector[i] = gr_complex(0.0, 0.0);
} }
d_opencl = init_opencl_environment("math_kernel.cl"); d_opencl = init_opencl_environment("math_kernel.cl");
@ -140,11 +138,9 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
// For dumping samples into a file // For dumping samples into a file
d_dump = dump; d_dump = dump;
d_dump_filename = dump_filename; d_dump_filename = dump_filename;
} }
pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc() pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
{ {
if (d_num_doppler_bins > 0) if (d_num_doppler_bins > 0)
@ -174,7 +170,7 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
delete d_cl_buffer_2; delete d_cl_buffer_2;
delete d_cl_buffer_magnitude; delete d_cl_buffer_magnitude;
delete d_cl_buffer_fft_codes; delete d_cl_buffer_fft_codes;
if(d_num_doppler_bins > 0) if (d_num_doppler_bins > 0)
{ {
delete[] d_cl_buffer_grid_doppler_wipeoffs; delete[] d_cl_buffer_grid_doppler_wipeoffs;
} }
@ -194,14 +190,13 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
} }
int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filename) int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filename)
{ {
//get all platforms (drivers) //get all platforms (drivers)
std::vector<cl::Platform> all_platforms; std::vector<cl::Platform> all_platforms;
cl::Platform::get(&all_platforms); cl::Platform::get(&all_platforms);
if(all_platforms.size()==0) if (all_platforms.size() == 0)
{ {
std::cout << "No OpenCL platforms found. Check OpenCL installation!" << std::endl; std::cout << "No OpenCL platforms found. Check OpenCL installation!" << std::endl;
return 1; return 1;
@ -215,7 +210,7 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
std::vector<cl::Device> gpu_devices; std::vector<cl::Device> gpu_devices;
d_cl_platform.getDevices(CL_DEVICE_TYPE_GPU, &gpu_devices); d_cl_platform.getDevices(CL_DEVICE_TYPE_GPU, &gpu_devices);
if(gpu_devices.size()==0) if (gpu_devices.size() == 0)
{ {
std::cout << "No GPU devices found. Check OpenCL installation!" << std::endl; std::cout << "No GPU devices found. Check OpenCL installation!" << std::endl;
return 2; return 2;
@ -240,10 +235,10 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
cl::Program::Sources sources; cl::Program::Sources sources;
sources.push_back({kernel_code.c_str(),kernel_code.length()}); sources.push_back({kernel_code.c_str(), kernel_code.length()});
cl::Program program(context,sources); cl::Program program(context, sources);
if(program.build(device)!=CL_SUCCESS) if (program.build(device) != CL_SUCCESS)
{ {
std::cout << " Error building: " std::cout << " Error building: "
<< program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(device[0]) << program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(device[0])
@ -253,14 +248,14 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
d_cl_program = program; d_cl_program = program;
// create buffers on the device // create buffers on the device
d_cl_buffer_in = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size); d_cl_buffer_in = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size);
d_cl_buffer_fft_codes = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size_pow2); d_cl_buffer_fft_codes = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_1 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size_pow2); d_cl_buffer_1 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_2 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size_pow2); d_cl_buffer_2 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_magnitude = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(float)*d_fft_size); d_cl_buffer_magnitude = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(float) * d_fft_size);
//create queue to which we will push commands for the device. //create queue to which we will push commands for the device.
d_cl_queue = new cl::CommandQueue(d_cl_context,d_cl_device); d_cl_queue = new cl::CommandQueue(d_cl_context, d_cl_device);
//create FFT plan //create FFT plan
cl_int err; cl_int err;
@ -286,7 +281,6 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
} }
void pcps_opencl_acquisition_cc::init() void pcps_opencl_acquisition_cc::init()
{ {
d_gnss_synchro->Flag_valid_acquisition = false; d_gnss_synchro->Flag_valid_acquisition = false;
@ -310,29 +304,29 @@ void pcps_opencl_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
if (d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_buffer_grid_doppler_wipeoffs = new cl::Buffer*[d_num_doppler_bins]; d_cl_buffer_grid_doppler_wipeoffs = new cl::Buffer *[d_num_doppler_bins];
} }
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = static_cast<float>(GPS_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = static_cast<float>(GPS_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
if (d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_buffer_grid_doppler_wipeoffs[doppler_index] = d_cl_buffer_grid_doppler_wipeoffs[doppler_index] =
new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size); new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size);
d_cl_queue->enqueueWriteBuffer(*(d_cl_buffer_grid_doppler_wipeoffs[doppler_index]), d_cl_queue->enqueueWriteBuffer(*(d_cl_buffer_grid_doppler_wipeoffs[doppler_index]),
CL_TRUE, 0, sizeof(gr_complex)*d_fft_size, CL_TRUE, 0, sizeof(gr_complex) * d_fft_size,
d_grid_doppler_wipeoffs[doppler_index]); d_grid_doppler_wipeoffs[doppler_index]);
} }
} }
@ -340,25 +334,24 @@ void pcps_opencl_acquisition_cc::init()
// zero padding in buffer_1 (FFT input) // zero padding in buffer_1 (FFT input)
if (d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_1, CL_TRUE, sizeof(gr_complex)*d_fft_size, d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_1, CL_TRUE, sizeof(gr_complex) * d_fft_size,
sizeof(gr_complex)*(d_fft_size_pow2 - d_fft_size), d_zero_vector); sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size), d_zero_vector);
} }
} }
void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> * code) void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
if(d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, 0, d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, 0,
sizeof(gr_complex)*d_fft_size, code); sizeof(gr_complex) * d_fft_size, code);
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex)*d_fft_size, d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) * d_fft_size,
sizeof(gr_complex)*(d_fft_size_pow2 - 2*d_fft_size), sizeof(gr_complex) * (d_fft_size_pow2 - 2 * d_fft_size),
d_zero_vector); d_zero_vector);
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size),
*(d_fft_size_pow2 - d_fft_size), sizeof(gr_complex) * d_fft_size, code);
sizeof(gr_complex)*d_fft_size, code);
clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size, clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size,
clFFT_Forward, (*d_cl_buffer_2)(), (*d_cl_buffer_2)(), clFFT_Forward, (*d_cl_buffer_2)(), (*d_cl_buffer_2)(),
@ -372,7 +365,7 @@ void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> * code)
} }
else else
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -388,7 +381,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size); float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
gr_complex* in = d_in_buffer[d_well_count]; gr_complex *in = d_in_buffer[d_well_count];
unsigned long int samplestamp = d_sample_counter_buffer[d_well_count]; unsigned long int samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0; d_input_power = 0.0;
@ -397,7 +390,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -466,10 +459,10 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }
@ -510,23 +503,23 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
float fft_normalization_factor = (static_cast<float>(d_fft_size_pow2) * static_cast<float>(d_fft_size)); //This works, but I am not sure why. float fft_normalization_factor = (static_cast<float>(d_fft_size_pow2) * static_cast<float>(d_fft_size)); //This works, but I am not sure why.
gr_complex* in = d_in_buffer[d_well_count]; gr_complex *in = d_in_buffer[d_well_count];
unsigned long int samplestamp = d_sample_counter_buffer[d_well_count]; unsigned long int samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0; d_input_power = 0.0;
d_mag = 0.0; d_mag = 0.0;
// write input vector in buffer of OpenCL device // write input vector in buffer of OpenCL device
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_in, CL_TRUE, 0, sizeof(gr_complex)*d_fft_size, in); d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_in, CL_TRUE, 0, sizeof(gr_complex) * d_fft_size, in);
d_well_count++; d_well_count++;
// struct timeval tv; // struct timeval tv;
// long long int begin = 0; // long long int begin = 0;
// long long int end = 0; // long long int end = 0;
// gettimeofday(&tv, NULL); // gettimeofday(&tv, NULL);
// begin = tv.tv_sec *1e6 + tv.tv_usec; // begin = tv.tv_sec *1e6 + tv.tv_usec;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
@ -546,14 +539,14 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
{ {
// doppler search steps // doppler search steps
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step*doppler_index; doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
//Multiply input signal with doppler wipe-off //Multiply input signal with doppler wipe-off
kernel = cl::Kernel(d_cl_program, "mult_vectors"); kernel = cl::Kernel(d_cl_program, "mult_vectors");
kernel.setArg(0, *d_cl_buffer_in); //input 1 kernel.setArg(0, *d_cl_buffer_in); //input 1
kernel.setArg(1, *d_cl_buffer_grid_doppler_wipeoffs[doppler_index]); //input 2 kernel.setArg(1, *d_cl_buffer_grid_doppler_wipeoffs[doppler_index]); //input 2
kernel.setArg(2, *d_cl_buffer_1); //output kernel.setArg(2, *d_cl_buffer_1); //output
d_cl_queue->enqueueNDRangeKernel(kernel,cl::NullRange, cl::NDRange(d_fft_size), d_cl_queue->enqueueNDRangeKernel(kernel, cl::NullRange, cl::NDRange(d_fft_size),
cl::NullRange); cl::NullRange);
// In the previous operation, we store the result in the first d_fft_size positions // In the previous operation, we store the result in the first d_fft_size positions
@ -561,7 +554,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
// (zero-padding is made in init() for optimization purposes). // (zero-padding is made in init() for optimization purposes).
clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size, clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size,
clFFT_Forward,(*d_cl_buffer_1)(), (*d_cl_buffer_2)(), clFFT_Forward, (*d_cl_buffer_1)(), (*d_cl_buffer_2)(),
0, NULL, NULL); 0, NULL, NULL);
// Multiply carrier wiped--off, Fourier transformed incoming signal // Multiply carrier wiped--off, Fourier transformed incoming signal
@ -588,7 +581,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
// This is the only function that blocks this thread until all previously enqueued // This is the only function that blocks this thread until all previously enqueued
// OpenCL commands are completed. // OpenCL commands are completed.
d_cl_queue->enqueueReadBuffer(*d_cl_buffer_magnitude, CL_TRUE, 0, d_cl_queue->enqueueReadBuffer(*d_cl_buffer_magnitude, CL_TRUE, 0,
sizeof(float)*d_fft_size,d_magnitude); sizeof(float) * d_fft_size, d_magnitude);
// Search maximum // Search maximum
// @TODO: find an efficient way to search the maximum with OpenCL in the GPU. // @TODO: find an efficient way to search the maximum with OpenCL in the GPU.
@ -631,14 +624,14 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
<< "_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }
// gettimeofday(&tv, NULL); // gettimeofday(&tv, NULL);
// end = tv.tv_sec *1e6 + tv.tv_usec; // end = tv.tv_sec *1e6 + tv.tv_usec;
// std::cout << "Acq time = " << (end-begin) << " us" << std::endl; // std::cout << "Acq time = " << (end-begin) << " us" << std::endl;
if (!d_bit_transition_flag) if (!d_bit_transition_flag)
{ {
@ -686,7 +679,8 @@ void pcps_opencl_acquisition_cc::set_state(int state)
d_sample_counter_buffer.clear(); d_sample_counter_buffer.clear();
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -733,8 +727,8 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
unsigned int num_dwells = std::min(static_cast<int>(d_max_dwells - d_in_dwell_count), ninput_items[0]); unsigned int num_dwells = std::min(static_cast<int>(d_max_dwells - d_in_dwell_count), ninput_items[0]);
for (unsigned int i = 0; i < num_dwells; i++) for (unsigned int i = 0; i < num_dwells; i++)
{ {
memcpy(d_in_buffer[d_in_dwell_count++], static_cast<const gr_complex*>(input_items[i]), memcpy(d_in_buffer[d_in_dwell_count++], static_cast<const gr_complex *>(input_items[i]),
sizeof(gr_complex)*d_fft_size); sizeof(gr_complex) * d_fft_size);
d_sample_counter += d_fft_size; d_sample_counter += d_fft_size;
d_sample_counter_buffer.push_back(d_sample_counter); d_sample_counter_buffer.push_back(d_sample_counter);
} }

18
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
View File

@ -57,13 +57,13 @@
#include <gnuradio/block.h> #include <gnuradio/block.h>
#include <gnuradio/gr_complex.h> #include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h> #include <gnuradio/fft/fft.h>
#include "fft_internal.h" #include "opencl/fft_internal.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#ifdef __APPLE__ #ifdef __APPLE__
#include "cl.hpp" #include "opencl/cl.hpp"
#else #else
#include <CL/cl.hpp> #include <CL/cl.hpp>
#endif #endif
class pcps_opencl_acquisition_cc; class pcps_opencl_acquisition_cc;
@ -84,7 +84,7 @@ pcps_make_opencl_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_opencl_acquisition_cc: public gr::block class pcps_opencl_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_opencl_acquisition_cc_sptr friend pcps_opencl_acquisition_cc_sptr
@ -128,7 +128,7 @@ private:
gr_complex* d_fft_codes; gr_complex* d_fft_codes;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -197,7 +197,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -256,9 +256,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
void acquisition_core_volk(); void acquisition_core_volk();

49
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -67,10 +67,9 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
unsigned int doppler_max, long freq, long fs_in, unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool bit_transition_flag, bool bit_transition_flag,
bool dump, std::string dump_filename): bool dump, std::string dump_filename) : gr::block("pcps_quicksync_acquisition_cc",
gr::block("pcps_quicksync_acquisition_cc", gr::io_signature::make(1, 1, (sizeof(gr_complex) * sampled_ms * samples_per_ms)),
gr::io_signature::make(1, 1, (sizeof(gr_complex)*sampled_ms * samples_per_ms )), gr::io_signature::make(0, 0, (sizeof(gr_complex) * sampled_ms * samples_per_ms)))
gr::io_signature::make(0, 0, (sizeof(gr_complex)*sampled_ms * samples_per_ms )))
{ {
this->message_port_register_out(pmt::mp("events")); this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER d_sample_counter = 0; // SAMPLE COUNTER
@ -178,7 +177,7 @@ void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
in the frequency domain after applying the fftw operation*/ in the frequency domain after applying the fftw operation*/
for (unsigned int i = 0; i < d_folding_factor; i++) for (unsigned int i = 0; i < d_folding_factor; i++)
{ {
std::transform ((code + i * d_fft_size), (code + ((i + 1) * d_fft_size)) , std::transform((code + i * d_fft_size), (code + ((i + 1) * d_fft_size)),
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(), d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
std::plus<gr_complex>()); std::plus<gr_complex>());
} }
@ -187,7 +186,6 @@ void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size); volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
} }
@ -205,7 +203,7 @@ void pcps_quicksync_acquisition_cc::init()
d_mag = 0.0; d_mag = 0.0;
d_input_power = 0.0; d_input_power = 0.0;
if(d_doppler_step == 0) d_doppler_step = 250; if (d_doppler_step == 0) d_doppler_step = 250;
// Count the number of bins // Count the number of bins
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
@ -225,14 +223,14 @@ void pcps_quicksync_acquisition_cc::init()
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_samples_per_code * d_folding_factor); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_samples_per_code * d_folding_factor);
} }
// DLOG(INFO) << "end init"; // DLOG(INFO) << "end init";
} }
void pcps_quicksync_acquisition_cc::set_state(int state) void pcps_quicksync_acquisition_cc::set_state(int state)
{ {
d_state = state; d_state = state;
if (d_state == 1) if (d_state == 1)
{ {
@ -246,16 +244,17 @@ void pcps_quicksync_acquisition_cc::set_state(int state)
d_active = 1; d_active = 1;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
} }
} }
int pcps_quicksync_acquisition_cc::general_work(int noutput_items, int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star& output_items __attribute__((unused)))
{ {
/* /*
* By J.Arribas, L.Esteve and M.Molina * By J.Arribas, L.Esteve and M.Molina
@ -302,7 +301,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
int doppler; int doppler;
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); //Get the input samples pointer
gr_complex* in_temp = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex* in_temp = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gr_complex* in_temp_folded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex* in_temp_folded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
@ -331,7 +330,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << " , doing acquisition of satellite: "
<< d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,algorithm: pcps_quicksync_acquisition" << " ,algorithm: pcps_quicksync_acquisition"
<< " ,folding factor: " << d_folding_factor << " ,folding factor: " << d_folding_factor
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
@ -352,7 +351,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
at zero. This is done to avoid over acumulation when performing at zero. This is done to avoid over acumulation when performing
the folding process to be stored in d_fft_if->get_inbuf()*/ the folding process to be stored in d_fft_if->get_inbuf()*/
d_signal_folded = new gr_complex[d_fft_size](); d_signal_folded = new gr_complex[d_fft_size]();
memcpy( d_fft_if->get_inbuf(), d_signal_folded, sizeof(gr_complex) * (d_fft_size)); memcpy(d_fft_if->get_inbuf(), d_signal_folded, sizeof(gr_complex) * (d_fft_size));
/*Doppler search steps and then multiplication of the incoming /*Doppler search steps and then multiplication of the incoming
signal with the doppler wipeoffs to eliminate frequency offset signal with the doppler wipeoffs to eliminate frequency offset
@ -369,10 +368,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
/*Perform folding of the carrier wiped-off incoming signal. Since /*Perform folding of the carrier wiped-off incoming signal. Since
superlinear method is being used the folding factor in the superlinear method is being used the folding factor in the
incoming raw data signal is of d_folding_factor^2*/ incoming raw data signal is of d_folding_factor^2*/
for ( int i = 0; i < static_cast<int>(d_folding_factor * d_folding_factor); i++) for (int i = 0; i < static_cast<int>(d_folding_factor * d_folding_factor); i++)
{ {
std::transform ((in_temp + i * d_fft_size), std::transform((in_temp + i * d_fft_size),
(in_temp + ((i + 1) * d_fft_size)) , (in_temp + ((i + 1) * d_fft_size)),
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
std::plus<gr_complex>()); std::plus<gr_complex>());
@ -427,15 +426,14 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
for (int i = 0; i < static_cast<int>(d_folding_factor); i++) for (int i = 0; i < static_cast<int>(d_folding_factor); i++)
{ {
d_possible_delay[i] = detected_delay_samples_folded + (i) * d_fft_size; d_possible_delay[i] = detected_delay_samples_folded + (i)*d_fft_size;
} }
for ( int i = 0; i < static_cast<int>(d_folding_factor); i++) for (int i = 0; i < static_cast<int>(d_folding_factor); i++)
{ {
/*Copy a signal of 1 code length into suggested buffer. /*Copy a signal of 1 code length into suggested buffer.
The copied signal must have doppler effect corrected*/ The copied signal must have doppler effect corrected*/
memcpy(in_1code,&in_temp[d_possible_delay[i]], memcpy(in_1code, &in_temp[d_possible_delay[i]],
sizeof(gr_complex) * (d_samples_per_code)); sizeof(gr_complex) * (d_samples_per_code));
/*Perform multiplication of the unmodified local /*Perform multiplication of the unmodified local
@ -445,11 +443,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
of a shift*/ of a shift*/
volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code); volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code);
for(int j = 0; j < d_samples_per_code; j++) for (int j = 0; j < d_samples_per_code; j++)
{ {
complex_acumulator[i] += (corr_output[j]); complex_acumulator[i] += (corr_output[j]);
} }
} }
/*Obtain maximun value of correlation given the possible delay selected */ /*Obtain maximun value of correlation given the possible delay selected */
volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor); volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor);
@ -557,7 +554,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
DLOG(INFO) << "sample_stamp " << d_sample_counter; DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics; DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold; DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "folding factor "<<d_folding_factor; DLOG(INFO) << "folding factor " << d_folding_factor;
DLOG(INFO) << "possible delay corr output"; DLOG(INFO) << "possible delay corr output";
for (int i = 0; i < static_cast<int>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i]; for (int i = 0; i < static_cast<int>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples; DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;

14
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
View File

@ -64,7 +64,7 @@
class pcps_quicksync_acquisition_cc; class pcps_quicksync_acquisition_cc;
typedef boost::shared_ptr<pcps_quicksync_acquisition_cc> typedef boost::shared_ptr<pcps_quicksync_acquisition_cc>
pcps_quicksync_acquisition_cc_sptr; pcps_quicksync_acquisition_cc_sptr;
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_acquisition_cc_sptr
pcps_quicksync_make_acquisition_cc(unsigned int folding_factor, pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
@ -82,7 +82,7 @@ pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
* Check \ref Navitec2012 "Faster GPS via the Sparse Fourier Transform", * Check \ref Navitec2012 "Faster GPS via the Sparse Fourier Transform",
* for details of its implementation and functionality. * for details of its implementation and functionality.
*/ */
class pcps_quicksync_acquisition_cc: public gr::block class pcps_quicksync_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_quicksync_acquisition_cc_sptr friend pcps_quicksync_acquisition_cc_sptr
@ -135,7 +135,7 @@ private:
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_fft_if2; gr::fft::fft_complex* d_fft_if2;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -183,7 +183,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -242,9 +242,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/ #endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/

34
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -76,8 +76,7 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
long freq, long fs_in, int samples_per_ms, long freq, long fs_in, int samples_per_ms,
int samples_per_code, unsigned int tong_init_val, int samples_per_code, unsigned int tong_init_val,
unsigned int tong_max_val, unsigned int tong_max_dwells, unsigned int tong_max_val, unsigned int tong_max_dwells,
bool dump, std::string dump_filename) : bool dump, std::string dump_filename) : gr::block("pcps_tong_acquisition_cc",
gr::block("pcps_tong_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -101,8 +100,8 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -151,9 +150,9 @@ pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
} }
} }
void pcps_tong_acquisition_cc::set_local_code(std::complex<float> * code) void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -184,19 +183,19 @@ void pcps_tong_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals and allocate data grid. // Create the carrier Doppler wipeoff signals and allocate data grid.
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_data = new float*[d_num_doppler_bins]; d_grid_data = new float *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
d_grid_data[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_grid_data[doppler_index] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (unsigned int i = 0; i < d_fft_size; i++) for (unsigned int i = 0; i < d_fft_size; i++)
{ {
@ -228,7 +227,8 @@ void pcps_tong_acquisition_cc::set_state(int state)
} }
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -290,7 +290,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_dwell_count++; d_dwell_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -327,7 +327,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
// Compute vector of test statistics corresponding to current doppler index. // Compute vector of test statistics corresponding to current doppler index.
volk_32f_s32f_multiply_32f(d_magnitude, d_magnitude, volk_32f_s32f_multiply_32f(d_magnitude, d_magnitude,
1/(fft_normalization_factor*fft_normalization_factor*d_input_power), 1 / (fft_normalization_factor * fft_normalization_factor * d_input_power),
d_fft_size); d_fft_size);
// Accumulate test statistics in d_grid_data. // Accumulate test statistics in d_grid_data.
@ -354,10 +354,10 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }
@ -382,7 +382,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
} }
} }
if(d_dwell_count >= d_tong_max_dwells) if (d_dwell_count >= d_tong_max_dwells)
{ {
d_state = 3; // Negative acquisition d_state = 3; // Negative acquisition
} }

12
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
View File

@ -74,7 +74,7 @@ pcps_tong_make_acquisition_cc(unsigned int sampled_ms, unsigned int doppler_max,
* \brief This class implements a Parallel Code Phase Search Acquisition with * \brief This class implements a Parallel Code Phase Search Acquisition with
* Tong algorithm. * Tong algorithm.
*/ */
class pcps_tong_acquisition_cc: public gr::block class pcps_tong_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_tong_acquisition_cc_sptr friend pcps_tong_acquisition_cc_sptr
@ -116,7 +116,7 @@ private:
float** d_grid_data; float** d_grid_data;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -163,7 +163,7 @@ public:
* \brief Sets local code for TONG acquisition algorithm. * \brief Sets local code for TONG acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -222,9 +222,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_TONG_ACQUISITION_CC_H_ */ #endif /* GNSS_SDR_PCPS_TONG_ACQUISITION_CC_H_ */

14
src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.cc
View File

@ -78,7 +78,6 @@ bool gps_fpga_acquisition_8sc::init()
bool gps_fpga_acquisition_8sc::set_local_code(unsigned int PRN) bool gps_fpga_acquisition_8sc::set_local_code(unsigned int PRN)
{ {
// select the code with the chosen PRN // select the code with the chosen PRN
gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code( gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_vector_length * PRN]); &d_all_fft_codes[d_vector_length * PRN]);
@ -111,7 +110,7 @@ gps_fpga_acquisition_8sc::gps_fpga_acquisition_8sc(std::string device_name,
// allocate memory to compute all the PRNs // allocate memory to compute all the PRNs
// and compute all the possible codes // and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
std::complex<float> * code_total = new gr_complex[vector_length]; // buffer for the local code repeate every number of ms std::complex<float>* code_total = new gr_complex[vector_length]; // buffer for the local code repeate every number of ms
gr_complex* d_fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex* d_fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
@ -155,7 +154,6 @@ gps_fpga_acquisition_8sc::gps_fpga_acquisition_8sc(std::string device_name,
d_all_fft_codes[i + vector_length * PRN] = lv_16sc_t(static_cast<int>(d_fft_codes_padded[i].real() * (pow(2, 7) - 1) / max), d_all_fft_codes[i + vector_length * PRN] = lv_16sc_t(static_cast<int>(d_fft_codes_padded[i].real() * (pow(2, 7) - 1) / max),
static_cast<int>(d_fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)); static_cast<int>(d_fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max));
} }
} }
// temporary buffers that we can delete // temporary buffers that we can delete
@ -255,14 +253,14 @@ void gps_fpga_acquisition_8sc::set_phase_step(unsigned int doppler_index)
phase_step_rad_real = MAX_PHASE_STEP_RAD; phase_step_rad_real = MAX_PHASE_STEP_RAD;
} }
phase_step_rad_int_temp = phase_step_rad_real * 4; // * 2^2 phase_step_rad_int_temp = phase_step_rad_real * 4; // * 2^2
phase_step_rad_int = (int32_t) (phase_step_rad_int_temp * (536870912)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings phase_step_rad_int = (int32_t)(phase_step_rad_int_temp * (536870912)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[3] = phase_step_rad_int; d_map_base[3] = phase_step_rad_int;
} }
void gps_fpga_acquisition_8sc::read_acquisition_results(uint32_t* max_index, void gps_fpga_acquisition_8sc::read_acquisition_results(uint32_t* max_index,
float* max_magnitude, unsigned *initial_sample, float *power_sum) float* max_magnitude, unsigned* initial_sample, float* power_sum)
{ {
unsigned readval = 0; unsigned readval = 0;
readval = d_map_base[0]; readval = d_map_base[0];
@ -291,13 +289,12 @@ void gps_fpga_acquisition_8sc::unblock_samples()
void gps_fpga_acquisition_8sc::open_device() void gps_fpga_acquisition_8sc::open_device()
{ {
if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1) if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{ {
LOG(WARNING) << "Cannot open deviceio" << d_device_name; LOG(WARNING) << "Cannot open deviceio" << d_device_name;
} }
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE, d_map_base = reinterpret_cast<volatile unsigned*>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0)); PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void*>(-1)) if (d_map_base == reinterpret_cast<void*>(-1))
@ -328,11 +325,10 @@ void gps_fpga_acquisition_8sc::open_device()
void gps_fpga_acquisition_8sc::close_device() void gps_fpga_acquisition_8sc::close_device()
{ {
unsigned * aux = const_cast<unsigned*>(d_map_base); unsigned* aux = const_cast<unsigned*>(d_map_base);
if (munmap(static_cast<void*>(aux), PAGE_SIZE) == -1) if (munmap(static_cast<void*>(aux), PAGE_SIZE) == -1)
{ {
printf("Failed to unmap memory uio\n"); printf("Failed to unmap memory uio\n");
} }
close(d_fd); close(d_fd);
} }

10
src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.h
View File

@ -51,12 +51,14 @@ public:
unsigned int vector_length, unsigned int nsamples, unsigned int vector_length, unsigned int nsamples,
unsigned int nsamples_total, long fs_in, long freq, unsigned int nsamples_total, long fs_in, long freq,
unsigned int sampled_ms, unsigned select_queue); unsigned int sampled_ms, unsigned select_queue);
~gps_fpga_acquisition_8sc();bool init();bool set_local_code( ~gps_fpga_acquisition_8sc();
bool init();
bool set_local_code(
unsigned int PRN); //int code_length_chips, const lv_16sc_t* local_code_in, float *shifts_chips); unsigned int PRN); //int code_length_chips, const lv_16sc_t* local_code_in, float *shifts_chips);
bool free(); bool free();
void run_acquisition(void); void run_acquisition(void);
void set_phase_step(unsigned int doppler_index); void set_phase_step(unsigned int doppler_index);
void read_acquisition_results(uint32_t* max_index, float* max_magnitude, void read_acquisition_results(uint32_t *max_index, float *max_magnitude,
unsigned *initial_sample, float *power_sum); unsigned *initial_sample, float *power_sum);
void block_samples(); void block_samples();
void unblock_samples(); void unblock_samples();
@ -82,10 +84,9 @@ public:
} }
private: private:
long d_freq; long d_freq;
long d_fs_in; long d_fs_in;
gr::fft::fft_complex* d_fft_if; // function used to run the fft of the local codes gr::fft::fft_complex *d_fft_if; // function used to run the fft of the local codes
// data related to the hardware module and the driver // data related to the hardware module and the driver
int d_fd; // driver descriptor int d_fd; // driver descriptor
@ -102,7 +103,6 @@ private:
unsigned fpga_acquisition_test_register(unsigned writeval); unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]); void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]);
void configure_acquisition(); void configure_acquisition();
}; };
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */ #endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */

21
src/algorithms/channel/adapters/channel.cc
View File

@ -39,7 +39,7 @@
using google::LogMessage; using google::LogMessage;
// Constructor // Constructor
Channel::Channel(ConfigurationInterface *configuration, unsigned int channel, Channel::Channel(ConfigurationInterface* configuration, unsigned int channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq, std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav, std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue) std::string role, std::string implementation, gr::msg_queue::sptr queue)
@ -64,10 +64,10 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
trk_->set_gnss_synchro(&gnss_synchro_); trk_->set_gnss_synchro(&gnss_synchro_);
// Provide a warning to the user about the change of parameter name // Provide a warning to the user about the change of parameter name
if(channel_ == 0) if (channel_ == 0)
{ {
long int deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0); long int deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0);
if(deprecation_warning != 0) if (deprecation_warning != 0)
{ {
std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED." << std::endl; std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED." << std::endl;
std::cout << "WARNING: Please replace it by GNSS-SDR.internal_fs_sps in your configuration file." << std::endl; std::cout << "WARNING: Please replace it by GNSS-SDR.internal_fs_sps in your configuration file." << std::endl;
@ -77,14 +77,14 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
// IMPORTANT: Do not change the order between set_doppler_step and set_threshold // IMPORTANT: Do not change the order between set_doppler_step and set_threshold
unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step", 0); unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step", 0);
if(doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500); if (doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
if(FLAGS_doppler_step != 0) doppler_step = static_cast<unsigned int>(FLAGS_doppler_step); if (FLAGS_doppler_step != 0) doppler_step = static_cast<unsigned int>(FLAGS_doppler_step);
DLOG(INFO) << "Channel "<< channel_ << " Doppler_step = " << doppler_step; DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step;
acq_->set_doppler_step(doppler_step); acq_->set_doppler_step(doppler_step);
float threshold = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0); float threshold = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0);
if(threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0); if (threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
acq_->set_threshold(threshold); acq_->set_threshold(threshold);
@ -107,7 +107,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
// Destructor // Destructor
Channel::~Channel(){} Channel::~Channel() {}
void Channel::connect(gr::top_block_sptr top_block) void Channel::connect(gr::top_block_sptr top_block)
@ -190,7 +190,7 @@ void Channel::set_signal(const Gnss_Signal& gnss_signal)
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
gnss_signal_ = gnss_signal; gnss_signal_ = gnss_signal;
std::string str_aux = gnss_signal_.get_signal_str(); std::string str_aux = gnss_signal_.get_signal_str();
const char * str = str_aux.c_str(); // get a C style null terminated string const char* str = str_aux.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(gnss_synchro_.Signal), str, 3); // copy string into synchro char array: 2 char + null std::memcpy(static_cast<void*>(gnss_synchro_.Signal), str, 3); // copy string into synchro char array: 2 char + null
gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN(); gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();
@ -205,11 +205,10 @@ void Channel::start_acquisition()
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
bool result = false; bool result = false;
result = channel_fsm_->Event_start_acquisition(); result = channel_fsm_->Event_start_acquisition();
if(!result) if (!result)
{ {
LOG(WARNING) << "Invalid channel event"; LOG(WARNING) << "Invalid channel event";
return; return;
} }
DLOG(INFO) << "Channel start_acquisition()"; DLOG(INFO) << "Channel start_acquisition()";
} }

11
src/algorithms/channel/adapters/channel.h
View File

@ -56,12 +56,11 @@ class TelemetryDecoderInterface;
* their interaction through a Finite State Machine * their interaction through a Finite State Machine
* *
*/ */
class Channel: public ChannelInterface class Channel : public ChannelInterface
{ {
public: public:
//! Constructor //! Constructor
Channel(ConfigurationInterface *configuration, unsigned int channel, Channel(ConfigurationInterface* configuration, unsigned int channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq, std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav, std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue); std::string role, std::string implementation, gr::msg_queue::sptr queue);
@ -85,9 +84,9 @@ public:
void start_acquisition() override; //!< Start the State Machine void start_acquisition() override; //!< Start the State Machine
void set_signal(const Gnss_Signal& gnss_signal_) override; //!< Sets the channel GNSS signal void set_signal(const Gnss_Signal& gnss_signal_) override; //!< Sets the channel GNSS signal
inline std::shared_ptr<AcquisitionInterface> acquisition(){ return acq_; } inline std::shared_ptr<AcquisitionInterface> acquisition() { return acq_; }
inline std::shared_ptr<TrackingInterface> tracking(){ return trk_; } inline std::shared_ptr<TrackingInterface> tracking() { return trk_; }
inline std::shared_ptr<TelemetryDecoderInterface> telemetry(){ return nav_; } inline std::shared_ptr<TelemetryDecoderInterface> telemetry() { return nav_; }
void msg_handler_events(pmt::pmt_t msg); void msg_handler_events(pmt::pmt_t msg);

15
src/algorithms/channel/libs/channel_fsm.cc
View File

@ -34,7 +34,6 @@
#include <glog/logging.h> #include <glog/logging.h>
ChannelFsm::ChannelFsm() ChannelFsm::ChannelFsm()
{ {
acq_ = nullptr; acq_ = nullptr;
@ -44,9 +43,7 @@ ChannelFsm::ChannelFsm()
} }
ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) : acq_(acquisition)
ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) :
acq_(acquisition)
{ {
trk_ = nullptr; trk_ = nullptr;
channel_ = 0; channel_ = 0;
@ -57,7 +54,7 @@ ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) :
bool ChannelFsm::Event_start_acquisition() bool ChannelFsm::Event_start_acquisition()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if((d_state == 1) || (d_state == 2)) if ((d_state == 1) || (d_state == 2))
{ {
return false; return false;
} }
@ -74,7 +71,7 @@ bool ChannelFsm::Event_start_acquisition()
bool ChannelFsm::Event_valid_acquisition() bool ChannelFsm::Event_valid_acquisition()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 1) if (d_state != 1)
{ {
return false; return false;
} }
@ -91,7 +88,7 @@ bool ChannelFsm::Event_valid_acquisition()
bool ChannelFsm::Event_failed_acquisition_repeat() bool ChannelFsm::Event_failed_acquisition_repeat()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 1) if (d_state != 1)
{ {
return false; return false;
} }
@ -108,7 +105,7 @@ bool ChannelFsm::Event_failed_acquisition_repeat()
bool ChannelFsm::Event_failed_acquisition_no_repeat() bool ChannelFsm::Event_failed_acquisition_no_repeat()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 1) if (d_state != 1)
{ {
return false; return false;
} }
@ -125,7 +122,7 @@ bool ChannelFsm::Event_failed_acquisition_no_repeat()
bool ChannelFsm::Event_failed_tracking_standby() bool ChannelFsm::Event_failed_tracking_standby()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 2) if (d_state != 2)
{ {
return false; return false;
} }

1
src/algorithms/channel/libs/channel_fsm.h
View File

@ -62,7 +62,6 @@ public:
bool Event_failed_tracking_standby(); bool Event_failed_tracking_standby();
private: private:
void start_acquisition(); void start_acquisition();
void start_tracking(); void start_tracking();
void request_satellite(); void request_satellite();

10
src/algorithms/channel/libs/channel_msg_receiver_cc.cc
View File

@ -71,19 +71,18 @@ void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
break; break;
} }
} }
catch(boost::bad_any_cast& e) catch (boost::bad_any_cast& e)
{ {
LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
} }
if(!result) if (!result)
{ {
LOG(WARNING) << "msg_handler_telemetry invalid event"; LOG(WARNING) << "msg_handler_telemetry invalid event";
} }
} }
channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{ {
this->message_port_register_in(pmt::mp("events")); this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1)); this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
@ -93,5 +92,4 @@ channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> cha
} }
channel_msg_receiver_cc::~channel_msg_receiver_cc() channel_msg_receiver_cc::~channel_msg_receiver_cc() {}
{}

3
src/algorithms/channel/libs/channel_msg_receiver_cc.h
View File

@ -53,8 +53,7 @@ private:
channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat); channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
public: public:
~channel_msg_receiver_cc (); //!< Default destructor ~channel_msg_receiver_cc(); //!< Default destructor
}; };
#endif #endif

18
src/algorithms/conditioner/adapters/array_signal_conditioner.cc
View File

@ -38,18 +38,21 @@ using google::LogMessage;
// Constructor // Constructor
ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration, ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration,
std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt, std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt,
std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : data_type_adapt_(data_type_adapt),
data_type_adapt_(data_type_adapt), in_filt_(in_filt),
in_filt_(in_filt), res_(res), role_(role), implementation_(implementation) res_(res),
role_(role),
implementation_(implementation)
{ {
connected_ = false; connected_ = false;
if(configuration){ }; if (configuration)
{
};
} }
// Destructor // Destructor
ArraySignalConditioner::~ArraySignalConditioner() ArraySignalConditioner::~ArraySignalConditioner() {}
{}
void ArraySignalConditioner::connect(gr::top_block_sptr top_block) void ArraySignalConditioner::connect(gr::top_block_sptr top_block)
@ -76,7 +79,6 @@ void ArraySignalConditioner::connect(gr::top_block_sptr top_block)
} }
void ArraySignalConditioner::disconnect(gr::top_block_sptr top_block) void ArraySignalConditioner::disconnect(gr::top_block_sptr top_block)
{ {
if (!connected_) if (!connected_)
@ -105,9 +107,7 @@ gr::basic_block_sptr ArraySignalConditioner::get_left_block()
} }
gr::basic_block_sptr ArraySignalConditioner::get_right_block() gr::basic_block_sptr ArraySignalConditioner::get_right_block()
{ {
return res_->get_right_block(); return res_->get_right_block();
} }

8
src/algorithms/conditioner/adapters/array_signal_conditioner.h
View File

@ -47,7 +47,7 @@ class TelemetryDecoderInterface;
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler
* to be applied to the input flow of sampled signal. * to be applied to the input flow of sampled signal.
*/ */
class ArraySignalConditioner: public GNSSBlockInterface class ArraySignalConditioner : public GNSSBlockInterface
{ {
public: public:
//! Constructor //! Constructor
@ -68,9 +68,9 @@ public:
inline std::string implementation() override { return "Array_Signal_Conditioner"; } inline std::string implementation() override { return "Array_Signal_Conditioner"; }
inline size_t item_size() override { return 0; } inline size_t item_size() override { return 0; }
inline std::shared_ptr<GNSSBlockInterface> data_type_adapter(){ return data_type_adapt_; } inline std::shared_ptr<GNSSBlockInterface> data_type_adapter() { return data_type_adapt_; }
inline std::shared_ptr<GNSSBlockInterface> input_filter(){ return in_filt_; } inline std::shared_ptr<GNSSBlockInterface> input_filter() { return in_filt_; }
inline std::shared_ptr<GNSSBlockInterface> resampler(){ return res_; } inline std::shared_ptr<GNSSBlockInterface> resampler() { return res_; }
private: private:
std::shared_ptr<GNSSBlockInterface> data_type_adapt_; std::shared_ptr<GNSSBlockInterface> data_type_adapt_;

16
src/algorithms/conditioner/adapters/signal_conditioner.cc
View File

@ -38,18 +38,21 @@ using google::LogMessage;
// Constructor // Constructor
SignalConditioner::SignalConditioner(ConfigurationInterface *configuration, SignalConditioner::SignalConditioner(ConfigurationInterface *configuration,
std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt, std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt,
std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : data_type_adapt_(data_type_adapt),
data_type_adapt_(data_type_adapt), in_filt_(in_filt),
in_filt_(in_filt), res_(res), role_(role), implementation_(implementation) res_(res),
role_(role),
implementation_(implementation)
{ {
connected_ = false; connected_ = false;
if(configuration){ }; if (configuration)
{
};
} }
// Destructor // Destructor
SignalConditioner::~SignalConditioner() SignalConditioner::~SignalConditioner() {}
{}
void SignalConditioner::connect(gr::top_block_sptr top_block) void SignalConditioner::connect(gr::top_block_sptr top_block)
@ -102,4 +105,3 @@ gr::basic_block_sptr SignalConditioner::get_right_block()
{ {
return res_->get_right_block(); return res_->get_right_block();
} }

8
src/algorithms/conditioner/adapters/signal_conditioner.h
View File

@ -44,7 +44,7 @@ class TelemetryDecoderInterface;
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler
* to be applied to the input flow of sampled signal. * to be applied to the input flow of sampled signal.
*/ */
class SignalConditioner: public GNSSBlockInterface class SignalConditioner : public GNSSBlockInterface
{ {
public: public:
//! Constructor //! Constructor
@ -66,9 +66,9 @@ public:
inline size_t item_size() override { return 0; } inline size_t item_size() override { return 0; }
inline std::shared_ptr<GNSSBlockInterface> data_type_adapter(){ return data_type_adapt_; } inline std::shared_ptr<GNSSBlockInterface> data_type_adapter() { return data_type_adapt_; }
inline std::shared_ptr<GNSSBlockInterface> input_filter(){ return in_filt_; } inline std::shared_ptr<GNSSBlockInterface> input_filter() { return in_filt_; }
inline std::shared_ptr<GNSSBlockInterface> resampler(){ return res_; } inline std::shared_ptr<GNSSBlockInterface> resampler() { return res_; }
private: private:
std::shared_ptr<GNSSBlockInterface> data_type_adapt_; std::shared_ptr<GNSSBlockInterface> data_type_adapt_;

10
src/algorithms/data_type_adapter/adapters/byte_to_short.cc
View File

@ -36,9 +36,7 @@
using google::LogMessage; using google::LogMessage;
ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role, ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "short"; std::string default_output_item_type = "short";
@ -66,7 +64,8 @@ ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role
ByteToShort::~ByteToShort() ByteToShort::~ByteToShort()
{} {
}
void ByteToShort::connect(gr::top_block_sptr top_block) void ByteToShort::connect(gr::top_block_sptr top_block)
@ -91,16 +90,13 @@ void ByteToShort::disconnect(gr::top_block_sptr top_block)
} }
gr::basic_block_sptr ByteToShort::get_left_block() gr::basic_block_sptr ByteToShort::get_left_block()
{ {
return gr_char_to_short_; return gr_char_to_short_;
} }
gr::basic_block_sptr ByteToShort::get_right_block() gr::basic_block_sptr ByteToShort::get_right_block()
{ {
return gr_char_to_short_; return gr_char_to_short_;
} }

2
src/algorithms/data_type_adapter/adapters/byte_to_short.h
View File

@ -42,7 +42,7 @@ class ConfigurationInterface;
* \brief Adapts an 8-bits sample stream (IF) to a short int stream (IF) * \brief Adapts an 8-bits sample stream (IF) to a short int stream (IF)
* *
*/ */
class ByteToShort: public GNSSBlockInterface class ByteToShort : public GNSSBlockInterface
{ {
public: public:
ByteToShort(ConfigurationInterface* configuration, ByteToShort(ConfigurationInterface* configuration,

19
src/algorithms/data_type_adapter/adapters/ibyte_to_cbyte.cc
View File

@ -37,9 +37,7 @@
using google::LogMessage; using google::LogMessage;
IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string role, IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "lv_8sc_t"; std::string default_output_item_type = "lv_8sc_t";
@ -64,7 +62,7 @@ IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string ro
DLOG(INFO) << "Dumping output into file " << dump_filename_; DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
} }
if(inverted_spectrum) if (inverted_spectrum)
{ {
conjugate_ic_ = make_conjugate_ic(); conjugate_ic_ = make_conjugate_ic();
} }
@ -72,14 +70,15 @@ IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string ro
IbyteToCbyte::~IbyteToCbyte() IbyteToCbyte::~IbyteToCbyte()
{} {
}
void IbyteToCbyte::connect(gr::top_block_sptr top_block) void IbyteToCbyte::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
top_block->connect(conjugate_ic_, 0, file_sink_, 0); top_block->connect(conjugate_ic_, 0, file_sink_, 0);
@ -91,7 +90,7 @@ void IbyteToCbyte::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
} }
@ -107,7 +106,7 @@ void IbyteToCbyte::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
top_block->disconnect(conjugate_ic_, 0, file_sink_, 0); top_block->disconnect(conjugate_ic_, 0, file_sink_, 0);
@ -119,7 +118,7 @@ void IbyteToCbyte::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
} }
@ -135,7 +134,7 @@ gr::basic_block_sptr IbyteToCbyte::get_left_block()
gr::basic_block_sptr IbyteToCbyte::get_right_block() gr::basic_block_sptr IbyteToCbyte::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_ic_; return conjugate_ic_;
} }

17
src/algorithms/data_type_adapter/adapters/ibyte_to_complex.cc
View File

@ -35,9 +35,7 @@
using google::LogMessage; using google::LogMessage;
IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, std::string role, IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "gr_complex"; std::string default_output_item_type = "gr_complex";
@ -70,14 +68,15 @@ IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, std::strin
IbyteToComplex::~IbyteToComplex() IbyteToComplex::~IbyteToComplex()
{} {
}
void IbyteToComplex::connect(gr::top_block_sptr top_block) void IbyteToComplex::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
top_block->connect(conjugate_cc_, 0, file_sink_, 0); top_block->connect(conjugate_cc_, 0, file_sink_, 0);
@ -89,7 +88,7 @@ void IbyteToComplex::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
} }
@ -105,7 +104,7 @@ void IbyteToComplex::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
top_block->disconnect(conjugate_cc_, 0, file_sink_, 0); top_block->disconnect(conjugate_cc_, 0, file_sink_, 0);
@ -117,7 +116,7 @@ void IbyteToComplex::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
} }
@ -133,7 +132,7 @@ gr::basic_block_sptr IbyteToComplex::get_left_block()
gr::basic_block_sptr IbyteToComplex::get_right_block() gr::basic_block_sptr IbyteToComplex::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_cc_; return conjugate_cc_;
} }

2
src/algorithms/data_type_adapter/adapters/ibyte_to_complex.h
View File

@ -44,7 +44,7 @@ class ConfigurationInterface;
* \brief Adapts an I/Q interleaved byte integer sample stream to a gr_complex (float) stream * \brief Adapts an I/Q interleaved byte integer sample stream to a gr_complex (float) stream
* *
*/ */
class IbyteToComplex: public GNSSBlockInterface class IbyteToComplex : public GNSSBlockInterface
{ {
public: public:
IbyteToComplex(ConfigurationInterface* configuration, IbyteToComplex(ConfigurationInterface* configuration,

21
src/algorithms/data_type_adapter/adapters/ibyte_to_cshort.cc
View File

@ -38,9 +38,7 @@
using google::LogMessage; using google::LogMessage;
IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string role, IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "cshort"; std::string default_output_item_type = "cshort";
@ -58,14 +56,14 @@ IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string
interleaved_byte_to_complex_short_ = make_interleaved_byte_to_complex_short(); interleaved_byte_to_complex_short_ = make_interleaved_byte_to_complex_short();
DLOG(INFO) << "data_type_adapter_(" << interleaved_byte_to_complex_short_->unique_id()<<")"; DLOG(INFO) << "data_type_adapter_(" << interleaved_byte_to_complex_short_->unique_id() << ")";
if (dump_) if (dump_)
{ {
DLOG(INFO) << "Dumping output into file " << dump_filename_; DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
} }
if(inverted_spectrum) if (inverted_spectrum)
{ {
conjugate_sc_ = make_conjugate_sc(); conjugate_sc_ = make_conjugate_sc();
} }
@ -73,14 +71,15 @@ IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string
IbyteToCshort::~IbyteToCshort() IbyteToCshort::~IbyteToCshort()
{} {
}
void IbyteToCshort::connect(gr::top_block_sptr top_block) void IbyteToCshort::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
top_block->connect(conjugate_sc_, 0, file_sink_, 0); top_block->connect(conjugate_sc_, 0, file_sink_, 0);
@ -92,7 +91,7 @@ void IbyteToCshort::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -104,7 +103,7 @@ void IbyteToCshort::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
top_block->disconnect(conjugate_sc_, 0, file_sink_, 0); top_block->disconnect(conjugate_sc_, 0, file_sink_, 0);
@ -116,7 +115,7 @@ void IbyteToCshort::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -132,7 +131,7 @@ gr::basic_block_sptr IbyteToCshort::get_left_block()
gr::basic_block_sptr IbyteToCshort::get_right_block() gr::basic_block_sptr IbyteToCshort::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_sc_; return conjugate_sc_;
} }

2
src/algorithms/data_type_adapter/adapters/ibyte_to_cshort.h
View File

@ -44,7 +44,7 @@ class ConfigurationInterface;
* \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream * \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream
* *
*/ */
class IbyteToCshort: public GNSSBlockInterface class IbyteToCshort : public GNSSBlockInterface
{ {
public: public:
IbyteToCshort(ConfigurationInterface* configuration, IbyteToCshort(ConfigurationInterface* configuration,

17
src/algorithms/data_type_adapter/adapters/ishort_to_complex.cc
View File

@ -35,9 +35,7 @@
using google::LogMessage; using google::LogMessage;
IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::string role, IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "short"; std::string default_input_item_type = "short";
std::string default_output_item_type = "gr_complex"; std::string default_output_item_type = "gr_complex";
@ -70,14 +68,15 @@ IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::str
IshortToComplex::~IshortToComplex() IshortToComplex::~IshortToComplex()
{} {
}
void IshortToComplex::connect(gr::top_block_sptr top_block) void IshortToComplex::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
top_block->connect(conjugate_cc_, 0, file_sink_, 0); top_block->connect(conjugate_cc_, 0, file_sink_, 0);
@ -89,7 +88,7 @@ void IshortToComplex::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
} }
@ -105,7 +104,7 @@ void IshortToComplex::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
top_block->disconnect(conjugate_cc_, 0, file_sink_, 0); top_block->disconnect(conjugate_cc_, 0, file_sink_, 0);
@ -117,7 +116,7 @@ void IshortToComplex::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
} }
@ -133,7 +132,7 @@ gr::basic_block_sptr IshortToComplex::get_left_block()
gr::basic_block_sptr IshortToComplex::get_right_block() gr::basic_block_sptr IshortToComplex::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_cc_; return conjugate_cc_;
} }

2
src/algorithms/data_type_adapter/adapters/ishort_to_complex.h
View File

@ -43,7 +43,7 @@ class ConfigurationInterface;
* \brief Adapts an I/Q interleaved short integer sample stream to a gr_complex (float) stream * \brief Adapts an I/Q interleaved short integer sample stream to a gr_complex (float) stream
* *
*/ */
class IshortToComplex: public GNSSBlockInterface class IshortToComplex : public GNSSBlockInterface
{ {
public: public:
IshortToComplex(ConfigurationInterface* configuration, IshortToComplex(ConfigurationInterface* configuration,

19
src/algorithms/data_type_adapter/adapters/ishort_to_cshort.cc
View File

@ -37,9 +37,7 @@
using google::LogMessage; using google::LogMessage;
IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::string role, IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "short"; std::string default_input_item_type = "short";
std::string default_output_item_type = "cshort"; std::string default_output_item_type = "cshort";
@ -64,7 +62,7 @@ IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::strin
DLOG(INFO) << "Dumping output into file " << dump_filename_; DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
} }
if(inverted_spectrum) if (inverted_spectrum)
{ {
conjugate_sc_ = make_conjugate_sc(); conjugate_sc_ = make_conjugate_sc();
} }
@ -72,14 +70,15 @@ IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::strin
IshortToCshort::~IshortToCshort() IshortToCshort::~IshortToCshort()
{} {
}
void IshortToCshort::connect(gr::top_block_sptr top_block) void IshortToCshort::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
top_block->connect(conjugate_sc_, 0, file_sink_, 0); top_block->connect(conjugate_sc_, 0, file_sink_, 0);
@ -91,7 +90,7 @@ void IshortToCshort::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -107,7 +106,7 @@ void IshortToCshort::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
top_block->disconnect(conjugate_sc_, 0, file_sink_, 0); top_block->disconnect(conjugate_sc_, 0, file_sink_, 0);
@ -119,7 +118,7 @@ void IshortToCshort::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -135,7 +134,7 @@ gr::basic_block_sptr IshortToCshort::get_left_block()
gr::basic_block_sptr IshortToCshort::get_right_block() gr::basic_block_sptr IshortToCshort::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_sc_; return conjugate_sc_;
} }

2
src/algorithms/data_type_adapter/adapters/ishort_to_cshort.h
View File

@ -44,7 +44,7 @@ class ConfigurationInterface;
* \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream * \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream
* *
*/ */
class IshortToCshort: public GNSSBlockInterface class IshortToCshort : public GNSSBlockInterface
{ {
public: public:
IshortToCshort(ConfigurationInterface* configuration, IshortToCshort(ConfigurationInterface* configuration,

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