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

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This commit is contained in:
Javier Arribas 2019-07-14 18:51:41 +02:00
commit bf40ed2be1
76 changed files with 885 additions and 715 deletions
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2
CMakeLists.txt
View File

@ -403,7 +403,7 @@ set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.16")
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.8.0")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.9.0")
if(CMAKE_VERSION VERSION_LESS "3.0.2") # Fix for CentOS 7
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")

22
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -1419,7 +1419,7 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
switch (type_of_rx)
{
case 50: // BDS B1I only
case 500: // BDS B1I only
rp->log_rinex_nav(rp->navFile, new_bds_eph);
break;
default:
@ -2194,21 +2194,21 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 501: // BeiDou B1I + GPS L1 C/A
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend()))
{
std::string bds_signal("B1");
//rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal);
//rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
std::string bds_signal("B1");
//rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal);
//rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
case 502: // BeiDou B1I + Galileo E1B
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend()))
{
std::string bds_signal("B1");
std::string gal_signal("1B");
//rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal);
//rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
std::string bds_signal("B1");
std::string gal_signal("1B");
//rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal);
//rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
@ -2597,7 +2597,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
break;
case 50: // BDS B1I only
case 500: // BDS B1I only
if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->log_rinex_obs(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "B1");

4
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -34,7 +34,6 @@
#include "pvt_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iomanip> // for operator<<
@ -240,7 +239,8 @@ bool GeoJSON_Printer::close_file()
// if nothing is written, erase the file
if (first_pos == true)
{
if (remove(filename_.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(filename_), ec))
{
LOG(INFO) << "Error deleting temporary file";
}

4
src/algorithms/PVT/libs/gpx_printer.cc
View File

@ -34,7 +34,6 @@
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iomanip> // for operator<<
@ -251,7 +250,8 @@ Gpx_Printer::~Gpx_Printer()
}
if (!positions_printed)
{
if (remove(gpx_filename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(gpx_filename), ec))
{
LOG(INFO) << "Error deleting temporary GPX file";
}

5
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -34,9 +34,7 @@
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <cstdio> // for remove
#include <cstdlib> // for mkstemp
#include <cstring> // for strncpy
#include <ctime> // for tm
#include <exception> // for exception
#include <iostream> // for cout, cerr
@ -366,7 +364,8 @@ Kml_Printer::~Kml_Printer()
}
if (!positions_printed)
{
if (remove(kml_filename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(kml_filename), ec))
{
LOG(INFO) << "Error deleting temporary KML file";
}

34
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -37,6 +37,7 @@
#include "rtklib_solution.h"
#include "rtklib_solver.h"
#include <glog/logging.h>
#include <array>
#include <cstdint>
#include <exception>
#include <fcntl.h>
@ -133,6 +134,7 @@ Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_fi
Nmea_Printer::~Nmea_Printer()
{
auto pos = nmea_file_descriptor.tellp();
try
{
if (nmea_file_descriptor.is_open())
@ -148,6 +150,14 @@ Nmea_Printer::~Nmea_Printer()
{
std::cerr << e.what() << '\n';
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(nmea_filename), ec))
{
std::cerr << "Problem removing NMEA temporary file: " << nmea_filename << '\n';
}
}
try
{
close_serial();
@ -428,9 +438,9 @@ std::string Nmea_Printer::get_GPRMC()
{
// Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_rmc(buff, &d_PVT_data->pvt_sol);
sentence_str << buff;
std::array<unsigned char, 1024> buff{};
outnmea_rmc(buff.data(), &d_PVT_data->pvt_sol);
sentence_str << buff.data();
return sentence_str.str();
}
@ -440,9 +450,9 @@ std::string Nmea_Printer::get_GPGSA()
// $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
// GSA-GNSS DOP and Active Satellites
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff;
std::array<unsigned char, 1024> buff{};
outnmea_gsa(buff.data(), &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff.data();
return sentence_str.str();
}
@ -453,9 +463,9 @@ std::string Nmea_Printer::get_GPGSV()
// $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
// Notice that NMEA 2.1 only supports 12 channels
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff;
std::array<unsigned char, 1024> buff{};
outnmea_gsv(buff.data(), &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff.data();
return sentence_str.str();
}
@ -463,9 +473,9 @@ std::string Nmea_Printer::get_GPGSV()
std::string Nmea_Printer::get_GPGGA()
{
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_gga(buff, &d_PVT_data->pvt_sol);
sentence_str << buff;
std::array<unsigned char, 1024> buff{};
outnmea_gga(buff.data(), &d_PVT_data->pvt_sol);
sentence_str << buff.data();
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
}

5
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -33,6 +33,7 @@
#include "GPS_L1_CA.h"
#include "geofunctions.h"
#include <glog/logging.h>
#include <array>
Pvt_Solution::Pvt_Solution()
@ -97,8 +98,8 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
4. World Geodetic System 1984
*/
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
const std::array<double, 5> a = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const std::array<double, 5> f = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
double lambda = atan2(Y, X);
double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));

160
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -55,8 +55,8 @@
#include <boost/date_time/time_zone_base.hpp>
#include <glog/logging.h>
#include <algorithm> // for min and max
#include <cmath> // for floor
#include <cstring> // for memcpy
#include <array>
#include <cmath> // for floor
#include <exception>
#include <iostream> // for cout
#include <iterator>
@ -267,51 +267,59 @@ Rinex_Printer::~Rinex_Printer()
std::cerr << e.what() << '\n';
}
// If nothing written, erase the files.
if (posn == 0)
{
if (remove(navfilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(navfilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
}
if (poso == 0)
{
if (remove(obsfilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(obsfilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
}
if (poss == 0)
{
if (remove(sbsfilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(sbsfilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
}
if (posng == 0)
{
if (remove(navGalfilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(navGalfilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
}
if (posmn == 0)
{
if (remove(navMixfilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(navMixfilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
}
if (posnr == 0)
{
if (remove(navGlofilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(navGlofilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
}
if (posnc == 0)
{
if (remove(navBdsfilename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(navBdsfilename), ec))
{
LOG(INFO) << "Error deleting temporary file";
}
@ -424,11 +432,11 @@ std::string Rinex_Printer::getLocalTime()
line += std::string("GNSS-SDR");
line += std::string(12, ' ');
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -2383,11 +2391,11 @@ void Rinex_Printer::rinex_sbs_header(std::fstream& out)
line.clear();
line += Rinex_Printer::leftJustify("GNSS-SDR", 20);
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -4827,11 +4835,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -5153,11 +5161,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -5508,11 +5516,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -5817,11 +5825,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -6140,11 +6148,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -6397,11 +6405,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -6648,11 +6656,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -6929,11 +6937,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -7275,11 +7283,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -7593,11 +7601,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -7860,11 +7868,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -8142,11 +8150,11 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Epheme
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
char c_username[20] = {0};
int32_t nGet = getlogin_r(c_username, sizeof(c_username) - 1);
std::array<char, 20> c_username{};
int32_t nGet = getlogin_r(c_username.data(), sizeof(c_username) - 1);
if (nGet == 0)
{
username = c_username;
username = c_username.data();
}
else
{
@ -10171,10 +10179,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, c
if ((total_mmap.count(mmap_iter->second.PRN)) == 1 && (mmap_iter->second.PRN != 0))
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "G";
gs.System = *sys.c_str();
std::string sig = "2S";
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
gs.System = 'G';
gs.Signal[0] = '2';
gs.Signal[1] = 'S';
gs.Signal[2] = '\0';
gs.PRN = mmap_iter->second.PRN;
total_mmap.insert(std::pair<uint32_t, Gnss_Synchro>(mmap_iter->second.PRN, gs));
}
@ -10401,10 +10409,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
if (found_1B != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "1B";
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
gs.System = 'E';
gs.Signal[0] = '1';
gs.Signal[1] = 'B';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
@ -10426,20 +10434,20 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
if (found_1B != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "1B";
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
gs.System = 'E';
gs.Signal[0] = '1';
gs.Signal[1] = 'B';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
if (found_E5a != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "5X";
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
gs.System = 'E';
gs.Signal[0] = '5';
gs.Signal[1] = 'X';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
@ -10452,10 +10460,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
if ((total_map.count(prn_)) == 1)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "E";
gs.System = *sys.c_str();
std::string sig = "5X";
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
gs.System = 'E';
gs.Signal[0] = '5';
gs.Signal[1] = 'X';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
@ -11521,10 +11529,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
if (found_B1 != std::string::npos)
{
Gnss_Synchro gs = Gnss_Synchro();
std::string sys = "C";
gs.System = *sys.c_str();
std::string sig = "B1";
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
gs.System = 'C';
gs.Signal[0] = 'B';
gs.Signal[1] = '1';
gs.Signal[2] = '\0';
gs.PRN = prn_;
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, gs));
}
@ -11603,7 +11611,7 @@ void Rinex_Printer::to_date_time(int32_t gps_week, int32_t gps_tow, int& year, i
{
// represents GPS time (week, TOW) in the date time format of the Gregorian calendar.
// -> Leap years are considered, but leap seconds are not.
int32_t days_per_month[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
std::array<int32_t, 12> days_per_month{31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
// seconds in a not leap year
const int32_t secs_per_day = 24 * 60 * 60;

4
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -40,7 +40,6 @@
#include "gps_ephemeris.h"
#include "rtcm.h"
#include <glog/logging.h>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <fcntl.h> // for O_RDWR
@ -221,7 +220,8 @@ Rtcm_Printer::~Rtcm_Printer()
}
if (pos == 0)
{
if (remove(rtcm_filename.c_str()) != 0)
errorlib::error_code ec;
if (!fs::remove(fs::path(rtcm_filename), ec))
{
LOG(INFO) << "Error deleting temporary RTCM file";
}

97
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -67,6 +67,25 @@
#include <utility>
#include <vector>
#if HAS_STD_FILESYSTEM
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
{
@ -218,116 +237,116 @@ bool Rtklib_Solver::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims, TOW_at_current_symbol_ms.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), TOW_at_current_symbol_ms.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims, week.data(), 0);
matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), week.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, RX_time.data(), 0);
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), RX_time.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, user_clk_offset.data(), 0);
matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), user_clk_offset.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_x.data(), 0);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_y.data(), 0);
matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_y.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_z.data(), 0);
matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pos_z.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_x.data(), 0);
matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_y.data(), 0);
matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_y.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_z.data(), 0);
matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vel_z.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xx.data(), 0);
matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_xx.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yy.data(), 0);
matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_yy.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zz.data(), 0);
matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_zz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xy.data(), 0);
matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_xy.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yz.data(), 0);
matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_yz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zx.data(), 0);
matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), cov_zx.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, latitude.data(), 0);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), latitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, longitude.data(), 0);
matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), longitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, height.data(), 0);
matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), height.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims, valid_sats.data(), 0);
matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims.data(), valid_sats.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_status.data(), 0);
matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims.data(), solution_status.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_type.data(), 0);
matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims.data(), solution_type.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_factor.data(), 0);
matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), AR_ratio_factor.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_threshold.data(), 0);
matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), AR_ratio_threshold.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, gdop.data(), 0);
matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), gdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pdop.data(), 0);
matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), pdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, hdop.data(), 0);
matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), hdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vdop.data(), 0);
matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), vdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
@ -341,6 +360,7 @@ Rtklib_Solver::~Rtklib_Solver()
{
if (d_dump_file.is_open() == true)
{
auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
@ -349,6 +369,15 @@ Rtklib_Solver::~Rtklib_Solver()
{
LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_dump_filename), ec))
{
std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
}
d_flag_dump_mat_enabled = false;
}
}
if (d_flag_dump_mat_enabled)
{
@ -963,11 +992,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// compute Ground speed and COG
double ground_speed_ms = 0.0;
double pos[3];
double enuv[3];
ecef2pos(pvt_sol.rr, pos);
ecef2enu(pos, &pvt_sol.rr[3], enuv);
this->set_speed_over_ground(norm_rtk(enuv, 2));
std::array<double, 3> pos{};
std::array<double, 3> enuv{};
ecef2pos(pvt_sol.rr, pos.data());
ecef2enu(pos.data(), &pvt_sol.rr[3], enuv.data());
this->set_speed_over_ground(norm_rtk(enuv.data(), 2));
double new_cog;
if (ground_speed_ms >= 1.0)
{

7
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -203,7 +203,6 @@ signed int GalileoE1Pcps8msAmbiguousAcquisition::mag()
void GalileoE1Pcps8msAmbiguousAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -215,8 +214,10 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -232,7 +232,6 @@ signed int GalileoE1PcpsAmbiguousAcquisition::mag()
void GalileoE1PcpsAmbiguousAcquisition::init()
{
acquisition_->init();
//set_local_code();
}
@ -246,7 +245,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
// set local signal generator to Galileo E1 pilot component (1C)
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
if (acq_parameters_.use_automatic_resampler)
{
@ -261,8 +260,10 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
}
else
{
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0';
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code_span, Signal_,

7
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -237,7 +237,6 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -249,8 +248,10 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);

7
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -207,7 +207,6 @@ signed int GalileoE1PcpsTongAmbiguousAcquisition::mag()
void GalileoE1PcpsTongAmbiguousAcquisition::init()
{
acquisition_cc_->init();
//set_local_code();
}
@ -219,8 +218,10 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);

37
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -56,8 +56,9 @@
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for fill_n, min
#include <cmath> // for floor, fmod, rint, ceil
#include <cstring> // for memcpy
#include <array>
#include <cmath> // for floor, fmod, rint, ceil
#include <cstring> // for memcpy
#include <iostream>
#include <map>
@ -455,56 +456,56 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
}
else
{
size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_bins)};
matvar_t* matvar = Mat_VarCreate("acq_grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, grid_.memptr(), 0);
std::array<size_t, 2> dims{static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_bins)};
matvar_t* matvar = Mat_VarCreate("acq_grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims, &acq_parameters.doppler_max, 0);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &acq_parameters.doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_doppler_step, 0);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("d_positive_acq", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_positive_acq, 0);
matvar = Mat_VarCreate("d_positive_acq", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &d_positive_acq, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
auto aux = static_cast<float>(d_gnss_synchro->Acq_doppler_hz);
matvar = Mat_VarCreate("acq_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
matvar = Mat_VarCreate("acq_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = static_cast<float>(d_gnss_synchro->Acq_delay_samples);
matvar = Mat_VarCreate("acq_delay_samples", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
matvar = Mat_VarCreate("acq_delay_samples", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("test_statistic", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_test_statistics, 0);
matvar = Mat_VarCreate("test_statistic", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &d_test_statistics, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("threshold", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_threshold, 0);
matvar = Mat_VarCreate("threshold", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &d_threshold, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("input_power", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_input_power, 0);
matvar = Mat_VarCreate("input_power", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &d_input_power, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sample_counter", MAT_C_UINT64, MAT_T_UINT64, 1, dims, &d_sample_counter, 0);
matvar = Mat_VarCreate("sample_counter", MAT_C_UINT64, MAT_T_UINT64, 1, dims.data(), &d_sample_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_gnss_synchro->PRN, 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims.data(), &d_gnss_synchro->PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("num_dwells", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
matvar = Mat_VarCreate("num_dwells", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &d_num_noncoherent_integrations_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -512,18 +513,18 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
{
dims[0] = static_cast<size_t>(effective_fft_size);
dims[1] = static_cast<size_t>(d_num_doppler_bins_step2);
matvar = Mat_VarCreate("acq_grid_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, narrow_grid_.memptr(), 0);
matvar = Mat_VarCreate("acq_grid_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), narrow_grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_step_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &acq_parameters.doppler_step2, 0);
matvar = Mat_VarCreate("doppler_step_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &acq_parameters.doppler_step2, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * acq_parameters.doppler_step2;
matvar = Mat_VarCreate("doppler_grid_narrow_min", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
matvar = Mat_VarCreate("doppler_grid_narrow_min", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

25
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -49,6 +49,7 @@
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // std::rotate, std::fill_n
#include <array>
#include <sstream>
#if HAS_STD_FILESYSTEM
@ -673,52 +674,52 @@ void pcps_acquisition_fine_doppler_cc::dump_results(int effective_fft_size)
}
else
{
size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_points)};
matvar_t *matvar = Mat_VarCreate("acq_grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, grid_.memptr(), 0);
std::array<size_t, 2> dims{static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_points)};
matvar_t *matvar = Mat_VarCreate("acq_grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_config_doppler_max, 0);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &d_config_doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_doppler_step, 0);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("d_positive_acq", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_positive_acq, 0);
matvar = Mat_VarCreate("d_positive_acq", MAT_C_INT32, MAT_T_INT32, 1, dims.data(), &d_positive_acq, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
auto aux = static_cast<float>(d_gnss_synchro->Acq_doppler_hz);
matvar = Mat_VarCreate("acq_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
matvar = Mat_VarCreate("acq_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = static_cast<float>(d_gnss_synchro->Acq_delay_samples);
matvar = Mat_VarCreate("acq_delay_samples", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
matvar = Mat_VarCreate("acq_delay_samples", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("test_statistic", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_test_statistics, 0);
matvar = Mat_VarCreate("test_statistic", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &d_test_statistics, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("threshold", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_threshold, 0);
matvar = Mat_VarCreate("threshold", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &d_threshold, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = 0.0;
matvar = Mat_VarCreate("input_power", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
matvar = Mat_VarCreate("input_power", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims.data(), &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sample_counter", MAT_C_UINT64, MAT_T_UINT64, 1, dims, &d_sample_counter, 0);
matvar = Mat_VarCreate("sample_counter", MAT_C_UINT64, MAT_T_UINT64, 1, dims.data(), &d_sample_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_gnss_synchro->PRN, 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims.data(), &d_gnss_synchro->PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);

114
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -34,6 +34,7 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath>
#include <exception>
#include <sstream>
@ -311,26 +312,26 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
case 1:
{
/* initialize acquisition implementing the QuickSync algorithm*/
// initialize acquisition implementing the QuickSync algorithm
//DLOG(INFO) << "START CASE 1";
int32_t doppler;
uint32_t indext = 0;
float magt = 0.0;
const auto* in = reinterpret_cast<const gr_complex*>(input_items[0]); //Get the input samples pointer
const auto* in = reinterpret_cast<const gr_complex*>(input_items[0]); // Get the input samples pointer
auto* in_temp = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* in_temp_folded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
/*Create a signal to store a signal of size 1ms, to perform correlation
in time. No folding on this data is required*/
// Create a signal to store a signal of size 1ms, to perform correlation
// in time. No folding on this data is required
auto* in_1code = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
/*Stores the values of the correlation output between the local code
and the signal with doppler shift corrected */
// Stores the values of the correlation output between the local code
// and the signal with doppler shift corrected
auto* corr_output = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
/*Stores a copy of the folded version of the signal.This is used for
the FFT operations in future steps of execution*/
// Stores a copy of the folded version of the signal.This is used for
// the FFT operations in future steps of execution*/
// gr_complex in_folded[d_fft_size];
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
@ -354,35 +355,34 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
<< d_samples_per_code * d_folding_factor;
/* 1- Compute the input signal power estimation. This operation is
being performed in a signal of size nxp */
// 1- Compute the input signal power estimation. This operation is
// being performed in a signal of size nxp
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_samples_per_code * d_folding_factor);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_samples_per_code * d_folding_factor);
d_input_power /= static_cast<float>(d_samples_per_code * d_folding_factor);
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
/*Ensure that the signal is going to start with all samples
at zero. This is done to avoid over acumulation when performing
the folding process to be stored in d_fft_if->get_inbuf()*/
// Ensure that the signal is going to start with all samples
// at zero. This is done to avoid over acumulation when performing
// the folding process to be stored in d_fft_if->get_inbuf()
d_signal_folded = new 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
signal with the doppler wipeoffs to eliminate frequency offset
*/
// Doppler search steps and then multiplication of the incoming
// signal with the doppler wipeoffs to eliminate frequency offset
doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
/*Perform multiplication of the incoming signal with the
complex exponential vector. This removes the frequency doppler
shift offset*/
// Perform multiplication of the incoming signal with the
// complex exponential vector. This removes the frequency doppler
// shift offset
volk_32fc_x2_multiply_32fc(in_temp, in,
d_grid_doppler_wipeoffs[doppler_index],
d_samples_per_code * d_folding_factor);
/*Perform folding of the carrier wiped-off incoming signal. Since
superlinear method is being used the folding factor in the
incoming raw data signal is of d_folding_factor^2*/
// Perform folding of the carrier wiped-off incoming signal. Since
// superlinear method is being used the folding factor in the
// incoming raw data signal is of d_folding_factor^2
for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor * d_folding_factor); i++)
{
std::transform((in_temp + i * d_fft_size),
@ -392,28 +392,26 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
std::plus<gr_complex>());
}
/* 3- Perform the FFT-based convolution (parallel time search)
Compute the FFT of the carrier wiped--off incoming signal*/
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
/*Multiply carrier wiped--off, Fourier transformed incoming
signal with the local FFT'd code reference using SIMD
operations with VOLK library*/
// Multiply carrier wiped--off, Fourier transformed incoming
// signal with the local FFT'd code reference using SIMD
// operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
/* compute the inverse FFT of the aliased signal*/
// compute the inverse FFT of the aliased signal
d_ifft->execute();
/* Compute the magnitude and get the maximum value with its
index position*/
// Compute the magnitude and get the maximum value with its
// index position
volk_32fc_magnitude_squared_32f(d_magnitude_folded,
d_ifft->get_outbuf(), d_fft_size);
/* Normalize the maximum value to correct the scale factor
introduced by FFTW*/
//volk_32f_s32f_multiply_32f_a(d_magnitude_folded,d_magnitude_folded,
// (1 / (fft_normalization_factor * fft_normalization_factor)), d_fft_size);
// Normalize the maximum value to correct the scale factor
// introduced by FFTW
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude_folded, d_fft_size);
magt = d_magnitude_folded[indext] / (fft_normalization_factor * fft_normalization_factor);
@ -425,19 +423,18 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
{
d_mag = magt;
/* In case that d_bit_transition_flag = true, we compare the potentially
new maximum test statistics (d_mag/d_input_power) with the value in
d_test_statistics. When the second dwell is being processed, the value
of d_mag/d_input_power could be lower than d_test_statistics (i.e,
the maximum test statistics in the previous dwell is greater than
current d_mag/d_input_power). Note that d_test_statistics is not
restarted between consecutive dwells in multidwell operation.*/
// In case that d_bit_transition_flag = true, we compare the potentially
// new maximum test statistics (d_mag/d_input_power) with the value in
// d_test_statistics. When the second dwell is being processed, the value
// of d_mag/d_input_power could be lower than d_test_statistics (i.e,
// the maximum test statistics in the previous dwell is greater than
// current d_mag/d_input_power). Note that d_test_statistics is not
// restarted between consecutive dwells in multidwell operation.
if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
{
uint32_t detected_delay_samples_folded = 0;
detected_delay_samples_folded = (indext % d_samples_per_code);
gr_complex complex_acumulator[100];
//gr_complex complex_acumulator[d_folding_factor];
std::array<gr_complex, 100> complex_acumulator{};
for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
{
@ -446,16 +443,16 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
{
/*Copy a signal of 1 code length into suggested buffer.
The copied signal must have doppler effect corrected*/
// Copy a signal of 1 code length into suggested buffer.
// The copied signal must have doppler effect corrected*/
memcpy(in_1code, &in_temp[d_possible_delay[i]],
sizeof(gr_complex) * (d_samples_per_code));
/*Perform multiplication of the unmodified local
generated code with the incoming signal with doppler
effect corrected and accumulates its value. This
is indeed correlation in time for an specific value
of a shift*/
// Perform multiplication of the unmodified local
// generated code with the incoming signal with doppler
// effect corrected and accumulates its value. This
// is indeed correlation in time for an specific value
// of a shift
volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code);
for (int32_t j = 0; j < d_samples_per_code; j++)
@ -463,28 +460,27 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
complex_acumulator[i] += (corr_output[j]);
}
}
/*Obtain maximum value of correlation given the possible delay selected */
volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor);
// Obtain maximum value of correlation given the possible delay selected
volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator.data(), d_folding_factor);
volk_gnsssdr_32f_index_max_32u(&indext, d_corr_output_f, d_folding_factor);
/*Now save the real code phase in the gnss_syncro block for use in other stages*/
// Now save the real code phase in the gnss_syncro block for use in other stages
d_gnss_synchro->Acq_delay_samples = static_cast<double>(d_possible_delay[indext]);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
/* 5- Compute the test statistics and compare to the threshold d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;*/
// 5- Compute the test statistics and compare to the threshold d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;
d_test_statistics = d_mag / d_input_power;
//delete complex_acumulator;
}
}
// Record results to file if required
if (d_dump)
{
/*Since QuickSYnc performs a folded correlation in frequency by means
of the FFT, it is essential to also keep the values obtained from the
possible delay to show how it is maximize*/
// Since QuickSYnc performs a folded correlation in frequency by means
// of the FFT, it is essential to also keep the values obtained from the
// possible delay to show how it is maximize
std::stringstream filename;
std::streamsize n = sizeof(float) * (d_fft_size); // complex file write
filename.str("");
@ -492,7 +488,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_magnitude_folded), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char*>(d_magnitude_folded), n); // write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
}

7
src/algorithms/channel/adapters/channel.cc
View File

@ -37,7 +37,6 @@
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
#include <glog/logging.h>
#include <cstring> // for memcpy
#include <utility> // for std::move
@ -209,9 +208,9 @@ void Channel::set_signal(const Gnss_Signal& gnss_signal)
std::lock_guard<std::mutex> lk(mx);
gnss_signal_ = gnss_signal;
std::string str_aux = gnss_signal_.get_signal_str();
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
gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
gnss_synchro_.Signal[0] = str_aux[0];
gnss_synchro_.Signal[1] = str_aux[1];
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_.System = gnss_signal_.get_satellite().get_system_short().c_str()[0];
acq_->set_local_code();

56
src/algorithms/libs/beidou_b1i_signal_processing.cc
View File

@ -31,44 +31,40 @@
*/
#include "beidou_b1i_signal_processing.h"
#include <array>
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 2046;
bool G1[_code_length];
bool G2[_code_length];
bool G1_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
bool G2_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
std::array<bool, _code_length> G1{};
std::array<bool, _code_length> G2{};
std::array<bool, 11> G1_register{false, true, false, true, false, true, false, true, false, true, false};
std::array<bool, 11> G2_register{false, true, false, true, false, true, false, true, false, true, false};
bool feedback1, feedback2;
bool aux;
uint32_t lcv, lcv2;
uint32_t delay;
int32_t prn_idx;
/* G2 Delays as defined in GPS-ISD-200D */
const int32_t delays[33] = {712 /*PRN1*/, 1581, 1414, 1550, 581, 771, 1311, 1043, 1549, 359, 710, 1579, 1548, 1103, 579, 769, 358, 709, 1411, 1547,
const std::array<int32_t, 33> delays = {712 /*PRN1*/, 1581, 1414, 1550, 581, 771, 1311, 1043, 1549, 359, 710, 1579, 1548, 1103, 579, 769, 358, 709, 1411, 1547,
1102, 578, 357, 1577, 1410, 1546, 1101, 707, 1576, 1409, 1545, 354 /*PRN32*/,
705};
const int32_t phase1[37] = {1, 1, 1, 1, 1, 1, 1, 1, 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 8, 8, 8, 9, 9, 10};
const int32_t phase2[37] = {3, 4, 5, 6, 8, 9, 10, 11, 7, 4, 5, 6, 8, 9, 10, 11, 5, 6, 8, 9, 10, 11, 6, 8, 9, 10, 11, 8, 9, 10, 11, 9, 10, 11, 10, 11, 11};
const std::array<int32_t, 37> phase1 = {1, 1, 1, 1, 1, 1, 1, 1, 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 8, 8, 8, 9, 9, 10};
const std::array<int32_t, 37> phase2 = {3, 4, 5, 6, 8, 9, 10, 11, 7, 4, 5, 6, 8, 9, 10, 11, 5, 6, 8, 9, 10, 11, 6, 8, 9, 10, 11, 8, 9, 10, 11, 9, 10, 11, 10, 11, 11};
// compute delay array index for given PRN number
prn_idx = _prn - 1;
/* A simple error check */
// A simple error check
if ((prn_idx < 0) || (prn_idx > 32))
{
return;
}
/*for (lcv = 0; lcv < 11; lcv++)
{
G1_register[lcv] = 1;
G2_register[lcv] = 1;
}*/
/* Generate G1 & G2 Register */
// Generate G1 & G2 Register
for (lcv = 0; lcv < _code_length; lcv++)
{
G1[lcv] = G1_register[0];
@ -87,12 +83,12 @@ void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _c
G2_register[10] = feedback2;
}
/* Set the delay */
// Set the delay
delay = _code_length - delays[prn_idx] * 0; //**********************************
delay += _chip_shift;
delay %= _code_length;
/* Generate PRN from G1 and G2 Registers */
// Generate PRN from G1 and G2 Registers
for (lcv = 0; lcv < _code_length; lcv++)
{
aux = G1[(lcv + _chip_shift) % _code_length] ^ G2[delay];
@ -106,7 +102,6 @@ void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _c
}
delay++;
//std::cout << _dest[lcv] << " ";
delay %= _code_length;
}
}
@ -114,10 +109,10 @@ void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _c
void beidou_b1i_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _chip_shift)
{
uint32_t _code_length = 2046;
int32_t b1i_code_int[_code_length];
const uint32_t _code_length = 2046;
std::array<int32_t, _code_length> b1i_code_int{};
beidou_b1i_code_gen_int(gsl::span<int32_t>(b1i_code_int, _code_length), _prn, _chip_shift);
beidou_b1i_code_gen_int(gsl::span<int32_t>(b1i_code_int.data(), _code_length), _prn, _chip_shift);
for (uint32_t ii = 0; ii < _code_length; ++ii)
{
@ -128,10 +123,10 @@ void beidou_b1i_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _c
void beidou_b1i_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _prn, uint32_t _chip_shift)
{
uint32_t _code_length = 2046;
int32_t b1i_code_int[_code_length];
const uint32_t _code_length = 2046;
std::array<int32_t, _code_length> b1i_code_int{};
beidou_b1i_code_gen_int(gsl::span<int32_t>(b1i_code_int, _code_length), _prn, _chip_shift);
beidou_b1i_code_gen_int(gsl::span<int32_t>(b1i_code_int.data(), _code_length), _prn, _chip_shift);
for (uint32_t ii = 0; ii < _code_length; ++ii)
{
@ -146,21 +141,22 @@ void beidou_b1i_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _
void beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[2046];
std::array<std::complex<float>, 2046> _code{};
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const int32_t _codeFreqBasis = 2046000; //Hz
const int32_t _codeFreqBasis = 2046000; // Hz
const int32_t _codeLength = 2046;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); // generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{

21
src/algorithms/libs/beidou_b3i_signal_processing.cc
View File

@ -31,14 +31,15 @@
*/
#include "beidou_b3i_signal_processing.h"
#include <array>
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int _chip_shift)
{
const unsigned int _code_length = 10230;
bool G1[_code_length];
bool G2[_code_length];
std::array<bool, _code_length> G1{};
std::array<bool, _code_length> G2{};
std::array<bool, 13> G1_register = {{true, true, true, true, true, true, true, true, true, true, true, true, true}};
std::array<bool, 13> G2_register = {{true, true, true, true, true, true, true, true, true, true, true, true, true}};
std::array<bool, 13> G1_register_reset = {{false, false, true, true, true, true, true, true, true, true, true, true, true}};
@ -153,7 +154,7 @@ void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int
delay += _chip_shift;
delay %= _code_length;
/* Generate PRN from G1 and G2 Registers */
// Generate PRN from G1 and G2 Registers
for (lcv = 0; lcv < _code_length; lcv++)
{
aux = (G1[(lcv + _chip_shift) % _code_length] + G2[delay]) & 0x01;
@ -174,8 +175,8 @@ void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int
void beidou_b3i_code_gen_float(gsl::span<float> _dest, signed int _prn, unsigned int _chip_shift)
{
unsigned int _code_length = 10230;
int b3i_code_int[10230];
const unsigned int _code_length = 10230;
std::array<int, _code_length> b3i_code_int{};
beidou_b3i_code_gen_int(b3i_code_int, _prn, _chip_shift);
@ -188,8 +189,8 @@ void beidou_b3i_code_gen_float(gsl::span<float> _dest, signed int _prn, unsigned
void beidou_b3i_code_gen_complex(gsl::span<std::complex<float>> _dest, signed int _prn, unsigned int _chip_shift)
{
unsigned int _code_length = 10230;
int b3i_code_int[10230];
const unsigned int _code_length = 10230;
std::array<int, _code_length> b3i_code_int{};
beidou_b3i_code_gen_int(b3i_code_int, _prn, _chip_shift);
@ -203,12 +204,12 @@ void beidou_b3i_code_gen_complex(gsl::span<std::complex<float>> _dest, signed in
void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, unsigned int _prn, int _fs, unsigned int _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[10230];
std::array<std::complex<float>, 10230> _code{};
signed int _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const signed int _codeFreqBasis = 10230000; //Hz
const signed int _codeFreqBasis = 10230000; // Hz
const signed int _codeLength = 10230;
//--- Find number of samples per spreading code ----------------------------
@ -217,7 +218,7 @@ void beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, u
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
beidou_b3i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
beidou_b3i_code_gen_complex(_code, _prn, _chip_shift); // generate C/A code 1 sample per chip
for (signed int i = 0; i < _samplesPerCode; i++)
{

17
src/algorithms/libs/galileo_e1_signal_processing.cc
View File

@ -34,6 +34,7 @@
#include "Galileo_E1.h"
#include "gnss_signal_processing.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <memory>
#include <string>
@ -110,8 +111,8 @@ void galileo_e1_code_gen_sinboc11_float(gsl::span<float> _dest, const std::array
{
std::string _galileo_signal = _Signal.data();
const auto _codeLength = static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
std::array<int32_t, 4092> primary_code_E1_chips{}; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(gsl::span<int32_t>(primary_code_E1_chips.data(), 4092), _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
for (uint32_t i = 0; i < _codeLength; i++)
{
_dest[2 * i] = static_cast<float>(primary_code_E1_chips[i]);
@ -127,13 +128,13 @@ void galileo_e1_gen_float(gsl::span<float> _dest, gsl::span<int> _prn, const std
const float alpha = sqrt(10.0 / 11.0);
const float beta = sqrt(1.0 / 11.0);
int32_t sinboc_11[12 * 4092] = {0}; // _codeLength not accepted by Clang
int32_t sinboc_61[12 * 4092] = {0};
gsl::span<int32_t> sinboc_11_(sinboc_11, _codeLength);
gsl::span<int32_t> sinboc_61_(sinboc_61, _codeLength);
std::array<int32_t, 12 * 4092> sinboc_11{};
std::array<int32_t, 12 * 4092> sinboc_61{};
gsl::span<int32_t> sinboc_11_(sinboc_11.data(), _codeLength);
gsl::span<int32_t> sinboc_61_(sinboc_61.data(), _codeLength);
galileo_e1_sinboc_11_gen_int(sinboc_11_, _prn); //generate sinboc(1,1) 12 samples per chip
galileo_e1_sinboc_61_gen_int(sinboc_61_, _prn); //generate sinboc(6,1) 12 samples per chip
galileo_e1_sinboc_11_gen_int(sinboc_11_, _prn); // generate sinboc(1,1) 12 samples per chip
galileo_e1_sinboc_61_gen_int(sinboc_61_, _prn); // generate sinboc(6,1) 12 samples per chip
if (_galileo_signal.rfind("1B") != std::string::npos && _galileo_signal.length() >= 2)
{

5
src/algorithms/libs/galileo_e5_signal_processing.cc
View File

@ -35,6 +35,7 @@
#include "Galileo_E5a.h"
#include "gnss_signal_processing.h"
#include <gnuradio/gr_complex.h>
#include <array>
#include <memory>
@ -42,7 +43,7 @@ void galileo_e5_a_code_gen_complex_primary(gsl::span<std::complex<float>> _dest,
{
uint32_t prn = _prn - 1;
uint32_t index = 0;
int32_t a[4];
std::array<int32_t, 4> a{};
if ((_prn < 1) || (_prn > 50))
{
return;
@ -81,7 +82,7 @@ void galileo_e5_a_code_gen_complex_primary(gsl::span<std::complex<float>> _dest,
}
else if (_Signal[0] == '5' && _Signal[1] == 'X')
{
int32_t b[4];
std::array<int32_t, 4> b{};
for (size_t i = 0; i < GALILEO_E5A_I_PRIMARY_CODE[prn].length() - 1; i++)
{
hex_to_binary_converter(a, GALILEO_E5A_I_PRIMARY_CODE[prn].at(i));

4
src/algorithms/libs/geofunctions.cc
View File

@ -302,7 +302,9 @@ double mstokph(double MetersPerSeconds)
arma::vec CTM_to_Euler(const arma::mat &C)
{
// Calculate Euler angles using (2.23)
arma::mat CTM(C);
arma::mat CTM = {{C(0, 0), C(0, 1), C(0, 2)},
{C(1, 0), C(1, 1), C(1, 2)},
{C(2, 0), C(2, 1), C(2, 2)}};
arma::vec eul = arma::zeros(3, 1);
eul(0) = atan2(CTM(1, 2), CTM(2, 2)); // roll
if (CTM(0, 2) < -1.0)

16
src/algorithms/libs/glonass_l1_signal_processing.cc
View File

@ -31,14 +31,15 @@
*/
#include "glonass_l1_signal_processing.h"
#include <array>
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
{
const uint32_t _code_length = 511;
bool G1[_code_length];
bool G1_register[9];
std::array<bool, _code_length> G1{};
std::array<bool, 9> G1_register{};
bool feedback1;
bool aux;
uint32_t delay;
@ -107,21 +108,22 @@ void glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /* int
void glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[511];
std::array<std::complex<float>, 511> _code{};
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const int32_t _codeFreqBasis = 511000; //Hz
const int32_t _codeFreqBasis = 511000; // Hz
const int32_t _codeLength = 511;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>>(_code, 511), _chip_shift); //generate C/A code 1 sample per chip
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>>(_code.data(), 511), _chip_shift); // generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{

16
src/algorithms/libs/glonass_l2_signal_processing.cc
View File

@ -31,14 +31,15 @@
*/
#include "glonass_l2_signal_processing.h"
#include <array>
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
{
const uint32_t _code_length = 511;
bool G1[_code_length];
bool G1_register[9];
std::array<bool, _code_length> G1{};
std::array<bool, 9> G1_register{};
bool feedback1;
bool aux;
uint32_t delay;
@ -107,21 +108,22 @@ void glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, /* int
void glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[511];
std::array<std::complex<float>, 511> _code{};
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const int32_t _codeFreqBasis = 511000; //Hz
const int32_t _codeFreqBasis = 511000; // Hz
const int32_t _codeLength = 511;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>>(_code, 511), _chip_shift); //generate C/A code 1 sample per chip
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>>(_code.data(), 511), _chip_shift); // generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{

5
src/algorithms/libs/gnss_sdr_create_directory.cc
View File

@ -83,7 +83,10 @@ bool gnss_sdr_create_directory(const std::string& foldername)
errorlib::error_code ec;
os_test_file.close();
fs::remove(test_file, ec);
if (!fs::remove(test_file, ec))
{
return false;
}
if (static_cast<bool>(ec))
{
return false;

30
src/algorithms/libs/gps_sdr_signal_processing.cc
View File

@ -31,23 +31,25 @@
*/
#include "gps_sdr_signal_processing.h"
#include <array>
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 1023;
bool G1[_code_length];
bool G2[_code_length];
bool G1_register[10], G2_register[10];
std::array<bool, _code_length> G1{};
std::array<bool, _code_length> G2{};
std::array<bool, 10> G1_register{};
std::array<bool, 10> G2_register{};
bool feedback1, feedback2;
bool aux;
uint32_t lcv, lcv2;
uint32_t delay;
int32_t prn_idx;
/* G2 Delays as defined in GPS-ISD-200D */
const int32_t delays[51] = {5 /*PRN1*/, 6, 7, 8, 17, 18, 139, 140, 141, 251, 252, 254, 255, 256, 257, 258, 469, 470, 471, 472,
// G2 Delays as defined in GPS-ISD-200D
const std::array<int32_t, 51> delays = {5 /*PRN1*/, 6, 7, 8, 17, 18, 139, 140, 141, 251, 252, 254, 255, 256, 257, 258, 469, 470, 471, 472,
473, 474, 509, 512, 513, 514, 515, 516, 859, 860, 861, 862 /*PRN32*/,
145 /*PRN120*/, 175, 52, 21, 237, 235, 886, 657, 634, 762,
355, 1012, 176, 603, 130, 359, 595, 68, 386 /*PRN138*/};
@ -62,7 +64,7 @@ void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _ch
prn_idx = _prn - 1;
}
/* A simple error check */
// A simple error check
if ((prn_idx < 0) || (prn_idx > 51))
{
return;
@ -74,7 +76,7 @@ void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _ch
G2_register[lcv] = true;
}
/* Generate G1 & G2 Register */
// Generate G1 & G2 Register
for (lcv = 0; lcv < _code_length; lcv++)
{
G1[lcv] = G1_register[0];
@ -93,12 +95,12 @@ void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _ch
G2_register[9] = feedback2;
}
/* Set the delay */
// Set the delay
delay = _code_length - delays[prn_idx];
delay += _chip_shift;
delay %= _code_length;
/* Generate PRN from G1 and G2 Registers */
// Generate PRN from G1 and G2 Registers
for (lcv = 0; lcv < _code_length; lcv++)
{
aux = G1[(lcv + _chip_shift) % _code_length] ^ G2[delay];
@ -119,7 +121,7 @@ void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _ch
void gps_l1_ca_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 1023;
int32_t ca_code_int[_code_length];
std::array<int32_t, _code_length> ca_code_int{};
gps_l1_ca_code_gen_int(ca_code_int, _prn, _chip_shift);
@ -133,7 +135,7 @@ void gps_l1_ca_code_gen_float(gsl::span<float> _dest, int32_t _prn, uint32_t _ch
void gps_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _prn, uint32_t _chip_shift)
{
const uint32_t _code_length = 1023;
int32_t ca_code_int[_code_length] = {0};
std::array<int32_t, _code_length> ca_code_int{};
gps_l1_ca_code_gen_int(ca_code_int, _prn, _chip_shift);
@ -151,12 +153,12 @@ void gps_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, int32_t _p
void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[1023];
std::array<std::complex<float>, 1023> _code{};
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const int32_t _codeFreqBasis = 1023000; //Hz
const int32_t _codeFreqBasis = 1023000; // Hz
const int32_t _codeLength = 1023;
//--- Find number of samples per spreading code ----------------------------
@ -165,7 +167,7 @@ void gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest, ui
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
gps_l1_ca_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
gps_l1_ca_code_gen_complex(_code, _prn, _chip_shift); // generate C/A code 1 sample per chip
for (int32_t i = 0; i < _samplesPerCode; i++)
{

2
src/algorithms/libs/rtklib/rtklib_sbas.cc
View File

@ -221,7 +221,7 @@ int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
}
for (i = 0; i < sbssat->nsat && i < MAXSAT; i++)
{
if (sbssat->sat[i].fcorr.iodf != iodf[i / 28])
if (sbssat->sat[i].fcorr.iodf != iodf[i / 39])
{
continue;
}

19
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/volk_gnsssdr_profile.cc
View File

@ -267,15 +267,24 @@ void write_results(const std::vector<volk_gnsssdr_test_results_t> *results, bool
// do not overwrite volk_gnsssdr_config when using a regex.
if (!fs::exists(config_path.parent_path()))
{
std::cout << "Creating " << config_path.parent_path() << " ..." << std::endl;
try
{
fs::create_directories(config_path.parent_path());
std::cout << "Creating " << config_path.parent_path() << " ..." << std::endl;
try
{
fs::create_directories(config_path.parent_path());
}
catch (const fs::filesystem_error &e)
{
std::cerr << "ERROR: Could not create folder " << config_path.parent_path() << std::endl;
std::cerr << "Reason: " << e.what() << std::endl;
return;
}
}
catch (const fs::filesystem_error &e)
catch (...)
{
std::cerr << "ERROR: Could not create folder " << config_path.parent_path() << std::endl;
std::cerr << "Reason: " << e.what() << std::endl;
// Catch exception when using std::experimental
std::cerr << "ERROR: Could not create folder" << std::endl;
return;
}
}

93
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
View File

@ -38,6 +38,7 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <array>
#include <cmath> // for round
#include <cstdlib> // for size_t, llabs
#include <exception> // for exception
@ -46,6 +47,8 @@
#include <utility> // for move
#if HAS_STD_FILESYSTEM
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
@ -54,8 +57,12 @@ namespace fs = std::experimental::filesystem;
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/path.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
@ -64,33 +71,6 @@ hybrid_observables_gs_sptr hybrid_observables_gs_make(unsigned int nchannels_in,
return hybrid_observables_gs_sptr(new hybrid_observables_gs(nchannels_in, nchannels_out, dump, dump_mat, std::move(dump_filename)));
}
void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
try
{
if (pmt::any_ref(msg).type() == typeid(double))
{
double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
T_rx_offset_ms = new_rx_clock_offset_s * 1000.0;
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
//d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
}
LOG(INFO) << "Corrected new RX Time offset: " << T_rx_offset_ms << "[ms]";
}
}
catch (boost::bad_any_cast &e)
{
LOG(WARNING) << "msg_handler_pvt_to_observables Bad any cast!";
}
}
hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
uint32_t nchannels_out,
@ -113,7 +93,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
d_nchannels_out = nchannels_out;
d_nchannels_in = nchannels_in;
T_rx_offset_ms = 0;
d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(500, d_nchannels_out);
d_gnss_synchro_history = std::make_shared<Gnss_circular_deque<Gnss_Synchro>>(500, d_nchannels_out);
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
@ -172,9 +152,9 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
hybrid_observables_gs::~hybrid_observables_gs()
{
delete d_gnss_synchro_history;
if (d_dump_file.is_open())
{
auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
@ -183,6 +163,15 @@ hybrid_observables_gs::~hybrid_observables_gs()
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_dump_filename), ec))
{
std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
}
d_dump_mat = false;
}
}
if (d_dump_mat)
{
@ -198,6 +187,34 @@ hybrid_observables_gs::~hybrid_observables_gs()
}
void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
try
{
if (pmt::any_ref(msg).type() == typeid(double))
{
double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
T_rx_offset_ms = new_rx_clock_offset_s * 1000.0;
T_rx_TOW_ms = T_rx_TOW_ms - static_cast<int>(round(T_rx_offset_ms));
T_rx_remnant_to_20ms = (T_rx_TOW_ms % 20);
//d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
d_gnss_synchro_history->clear(n);
}
LOG(INFO) << "Corrected new RX Time offset: " << T_rx_offset_ms << "[ms]";
}
}
catch (boost::bad_any_cast &e)
{
LOG(WARNING) << "msg_handler_pvt_to_observables Bad any cast!";
}
}
int32_t hybrid_observables_gs::save_matfile()
{
// READ DUMP FILE
@ -300,32 +317,32 @@ int32_t hybrid_observables_gs::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {static_cast<size_t>(d_nchannels_out), static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, RX_time_aux.data(), MAT_F_DONT_COPY_DATA);
std::array<size_t, 2> dims{static_cast<size_t>(d_nchannels_out), static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), RX_time_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("TOW_at_current_symbol_s", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, TOW_at_current_symbol_s_aux.data(), MAT_F_DONT_COPY_DATA);
matvar = Mat_VarCreate("TOW_at_current_symbol_s", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), TOW_at_current_symbol_s_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Carrier_Doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, Carrier_Doppler_hz_aux.data(), MAT_F_DONT_COPY_DATA);
matvar = Mat_VarCreate("Carrier_Doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Carrier_Doppler_hz_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Carrier_phase_cycles", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, Carrier_phase_cycles_aux.data(), MAT_F_DONT_COPY_DATA);
matvar = Mat_VarCreate("Carrier_phase_cycles", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Carrier_phase_cycles_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Pseudorange_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, Pseudorange_m_aux.data(), MAT_F_DONT_COPY_DATA);
matvar = Mat_VarCreate("Pseudorange_m", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Pseudorange_m_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, PRN_aux.data(), MAT_F_DONT_COPY_DATA);
matvar = Mat_VarCreate("PRN", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), PRN_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Flag_valid_pseudorange", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, Flag_valid_pseudorange_aux.data(), MAT_F_DONT_COPY_DATA);
matvar = Mat_VarCreate("Flag_valid_pseudorange", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), Flag_valid_pseudorange_aux.data(), MAT_F_DONT_COPY_DATA);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

5
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
View File

@ -40,6 +40,7 @@
#include <gnuradio/types.h> // for gr_vector_int
#include <cstdint> // for int32_t
#include <fstream> // for string, ofstream
#include <memory> // for shared_ptr
#include <vector> // for vector
class Gnss_Synchro;
@ -95,8 +96,8 @@ private:
double T_rx_offset_ms;
std::string d_dump_filename;
std::ofstream d_dump_file;
boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history
Gnss_circular_deque<Gnss_Synchro>* d_gnss_synchro_history; // Tracking observable history
boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history
std::shared_ptr<Gnss_circular_deque<Gnss_Synchro>> d_gnss_synchro_history; // Tracking observable history
void msg_handler_pvt_to_observables(const pmt::pmt_t& msg);
double compute_T_rx_s(const Gnss_Synchro& a);
bool interp_trk_obs(Gnss_Synchro& interpolated_obs, const uint32_t& ch, const uint64_t& rx_clock);

11
src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
View File

@ -39,6 +39,7 @@
#include "gps_sdr_signal_processing.h"
#include <gnuradio/io_signature.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <fstream>
#include <utility>
@ -158,7 +159,7 @@ void signal_generator_c::generate_codes()
{
sampled_code_data_[sat] = static_cast<gr_complex *>(std::malloc(vector_length_ * sizeof(gr_complex)));
gr_complex code[64000]; //[samples_per_code_[sat]];
std::array<gr_complex, 64000> code{}; //[samples_per_code_[sat]];
if (system_[sat] == "G")
{
@ -179,7 +180,7 @@ void signal_generator_c::generate_codes()
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
code, sizeof(gr_complex) * samples_per_code_[sat]);
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
}
}
else if (system_[sat] == "R")
@ -201,7 +202,7 @@ void signal_generator_c::generate_codes()
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
code, sizeof(gr_complex) * samples_per_code_[sat]);
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
}
}
else if (system_[sat] == "E")
@ -227,7 +228,7 @@ void signal_generator_c::generate_codes()
bool cboc = true;
std::array<char, 3> signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code, 64000), signal, cboc, PRN_[sat], fs_in_,
galileo_e1_code_gen_complex_sampled(code, signal, cboc, PRN_[sat], fs_in_,
static_cast<int>(GALILEO_E1_B_CODE_LENGTH_CHIPS) - delay_chips_[sat]);
// Obtain the desired CN0 assuming that Pn = 1.
@ -243,7 +244,7 @@ void signal_generator_c::generate_codes()
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
code, sizeof(gr_complex) * samples_per_code_[sat]);
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
}
// Generate E1C signal (25 code-periods, with secondary code)

7
src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
View File

@ -32,6 +32,7 @@
#include "gr_complex_ip_packet_source.h"
#include <gnuradio/io_signature.h>
#include <array>
#include <cstdint>
#include <utility>
@ -184,14 +185,14 @@ bool Gr_Complex_Ip_Packet_Source::stop()
bool Gr_Complex_Ip_Packet_Source::open()
{
char errbuf[PCAP_ERRBUF_SIZE];
std::array<char, PCAP_ERRBUF_SIZE> errbuf{};
boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
// open device for reading
descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf);
descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf.data());
if (descr == nullptr)
{
std::cout << "Error opening Ethernet device " << d_src_device << std::endl;
std::cout << "Fatal Error in pcap_open_live(): " << std::string(errbuf) << std::endl;
std::cout << "Fatal Error in pcap_open_live(): " << std::string(errbuf.data()) << std::endl;
return false;
}
// bind UDP port to avoid automatic reply with ICMP port unreachable packets from kernel

5
src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
View File

@ -32,6 +32,7 @@
#include "labsat23_source.h"
#include "control_message_factory.h"
#include <gnuradio/io_signature.h>
#include <array>
#include <exception>
#include <iostream>
#include <sstream>
@ -215,8 +216,8 @@ int labsat23_source::general_work(int noutput_items,
{
if (binary_input_file->eof() == false)
{
char memblock[1024];
binary_input_file->read(memblock, 1024);
std::array<char, 1024> memblock{};
binary_input_file->read(memblock.data(), 1024);
// parse Labsat header
// check preamble
int byte_counter = 0;

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

@ -43,6 +43,7 @@
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iostream> // for cout
@ -136,8 +137,9 @@ beidou_b1i_telemetry_decoder_gs::~beidou_b1i_telemetry_decoder_gs()
void beidou_b1i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
{
int32_t bit, err, reg[4] = {1, 1, 1, 1};
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
int32_t bit, err;
std::array<int32_t, 4> reg{1, 1, 1, 1};
const std::array<int32_t, 15> errind{14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (uint32_t i = 0; i < 15; i++)
{
@ -168,7 +170,9 @@ void beidou_b1i_telemetry_decoder_gs::decode_word(
const float *enc_word_symbols,
int32_t *dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15];
std::array<int32_t, 30> bitsbch{};
std::array<int32_t, 15> first_branch{};
std::array<int32_t, 15> second_branch{};
if (word_counter == 1)
{
@ -187,8 +191,8 @@ void beidou_b1i_telemetry_decoder_gs::decode_word(
}
}
decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch);
decode_bch15_11_01(&bitsbch[0], first_branch.data());
decode_bch15_11_01(&bitsbch[15], second_branch.data());
for (uint32_t j = 0; j < 11; j++)
{
@ -209,13 +213,13 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
{
// 1. Transform from symbols to bits
std::string data_bits;
int32_t dec_word_bits[30];
std::array<int32_t, 30> dec_word_bits{};
// Decode each word in subframe
for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
// decode the word
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits.data());
// Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)

18
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -42,6 +42,7 @@
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iostream> // for cout
@ -137,8 +138,9 @@ beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
int32_t *decbits)
{
int32_t bit, err, reg[4] = {1, 1, 1, 1};
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
int32_t bit, err;
std::array<int32_t, 4> reg{1, 1, 1, 1};
const std::array<int32_t, 15> errind{14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (uint32_t i = 0; i < 15; i++)
{
@ -169,7 +171,9 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
const float *enc_word_symbols,
int32_t *dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15];
std::array<int32_t, 30> bitsbch{};
std::array<int32_t, 15> first_branch{};
std::array<int32_t, 15> second_branch{};
if (word_counter == 1)
{
@ -188,8 +192,8 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
}
}
decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch);
decode_bch15_11_01(&bitsbch[0], first_branch.data());
decode_bch15_11_01(&bitsbch[15], second_branch.data());
for (uint32_t j = 0; j < 11; j++)
{
@ -210,13 +214,13 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
{
// 1. Transform from symbols to bits
std::string data_bits;
int32_t dec_word_bits[30];
std::array<int32_t, 30> dec_word_bits{};
// Decode each word in subframe
for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
// decode the word
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits.data());
// Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)

21
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
View File

@ -38,12 +38,13 @@
#include <gnuradio/io_signature.h>
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for floor, round
#include <cstdlib> // for abs, malloc
#include <cstring> // for memcpy
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#include <array>
#include <cmath> // for floor, round
#include <cstdlib> // for abs, malloc
#include <cstring> // for memcpy
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#define CRC_ERROR_LIMIT 6
@ -75,11 +76,11 @@ glonass_l1_ca_telemetry_decoder_gs::glonass_l1_ca_telemetry_decoder_gs(
d_samples_per_symbol = (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
// Set the preamble information
uint16_t preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS] = GLONASS_GNAV_PREAMBLE;
std::array<uint16_t, GLONASS_GNAV_PREAMBLE_LENGTH_BITS> preambles_bits{GLONASS_GNAV_PREAMBLE};
// Since preamble rate is different than navigation data rate we use a constant
d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
memcpy(static_cast<uint16_t *>(this->d_preambles_bits), static_cast<uint16_t *>(preambles_bits), GLONASS_GNAV_PREAMBLE_LENGTH_BITS * sizeof(uint16_t));
memcpy(static_cast<uint16_t *>(this->d_preambles_bits), preambles_bits.data(), GLONASS_GNAV_PREAMBLE_LENGTH_BITS * sizeof(uint16_t));
// preamble bits to sampled symbols
d_preambles_symbols = static_cast<int32_t *>(malloc(sizeof(int32_t) * d_symbols_per_preamble));
@ -349,7 +350,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// NEW GLONASS string received
// 0. fetch the symbols into an array
int32_t string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
double string_symbols[GLONASS_GNAV_DATA_SYMBOLS] = {0};
std::array<double, GLONASS_GNAV_DATA_SYMBOLS> string_symbols{};
// ******* SYMBOL TO BIT *******
for (int32_t i = 0; i < string_length; i++)
@ -365,7 +366,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
}
// call the decoder
decode_string(string_symbols, string_length);
decode_string(string_symbols.data(), string_length);
if (d_nav.flag_CRC_test == true)
{
d_CRC_error_counter = 0;

21
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@ -38,12 +38,13 @@
#include <gnuradio/io_signature.h>
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for floor, round
#include <cstdlib> // for abs, malloc
#include <cstring> // for memcpy
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#include <array>
#include <cmath> // for floor, round
#include <cstdlib> // for abs, malloc
#include <cstring> // for memcpy
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#define CRC_ERROR_LIMIT 6
@ -75,11 +76,11 @@ glonass_l2_ca_telemetry_decoder_gs::glonass_l2_ca_telemetry_decoder_gs(
d_samples_per_symbol = (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS) / GLONASS_L2_CA_SYMBOL_RATE_BPS;
// Set the preamble information
uint16_t preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS] = GLONASS_GNAV_PREAMBLE;
std::array<uint16_t, GLONASS_GNAV_PREAMBLE_LENGTH_BITS> preambles_bits{GLONASS_GNAV_PREAMBLE};
// Since preamble rate is different than navigation data rate we use a constant
d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
memcpy(static_cast<uint16_t *>(this->d_preambles_bits), static_cast<uint16_t *>(preambles_bits), GLONASS_GNAV_PREAMBLE_LENGTH_BITS * sizeof(uint16_t));
memcpy(static_cast<uint16_t *>(this->d_preambles_bits), preambles_bits.data(), GLONASS_GNAV_PREAMBLE_LENGTH_BITS * sizeof(uint16_t));
// preamble bits to sampled symbols
d_preambles_symbols = static_cast<int32_t *>(malloc(sizeof(int32_t) * d_symbols_per_preamble));
@ -351,7 +352,7 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// NEW GLONASS string received
// 0. fetch the symbols into an array
int32_t string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
double string_symbols[GLONASS_GNAV_DATA_SYMBOLS] = {0};
std::array<double, GLONASS_GNAV_DATA_SYMBOLS> string_symbols{};
// ******* SYMBOL TO BIT *******
for (int32_t i = 0; i < string_length; i++)
@ -367,7 +368,7 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
}
// call the decoder
decode_string(string_symbols, string_length);
decode_string(string_symbols.data(), string_length);
if (d_nav.flag_CRC_test == true)
{
d_CRC_error_counter = 0;

5
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -38,6 +38,7 @@
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <exception> // for exception
@ -205,7 +206,7 @@ void gps_l1_ca_telemetry_decoder_gs::set_channel(int32_t channel)
bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
{
char subframe[GPS_SUBFRAME_LENGTH];
std::array<char, GPS_SUBFRAME_LENGTH> subframe{};
int32_t frame_bit_index = 0;
int32_t word_index = 0;
uint32_t GPS_frame_4bytes = 0;
@ -265,7 +266,7 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
// NEW GPS SUBFRAME HAS ARRIVED!
if (subframe_synchro_confirmation)
{
int32_t subframe_ID = d_nav.subframe_decoder(subframe); // decode the subframe
int32_t subframe_ID = d_nav.subframe_decoder(subframe.data()); // decode the subframe
if (subframe_ID > 0 and subframe_ID < 6)
{
std::cout << "New GPS NAV message received in channel " << this->d_channel << ": "

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
View File

@ -182,7 +182,7 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
// Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
for (uint32_t i = 0; i < GPS_L5_CNAV_DATA_PAGE_BITS; i++)
{
raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i / 8] >> (7 - i % 8)) & 1u);
raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i / 8] >> (7 - i % 8)) & 1U);
}
d_CNAV_Message.decode_page(raw_bits);

17
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc
View File

@ -34,9 +34,10 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for abs
#include <exception> // for exception
#include <iomanip> // for operator<<, setw
#include <array>
#include <cmath> // for abs
#include <exception> // for exception
#include <iomanip> // for operator<<, setw
// logging levels
#define EVENT 2 // logs important events which don't occur every block
@ -130,7 +131,7 @@ void sbas_l1_telemetry_decoder_gs::Sample_Aligner::reset()
*/
bool sbas_l1_telemetry_decoder_gs::Sample_Aligner::get_symbols(const std::vector<double> &samples, std::vector<double> &symbols)
{
double smpls[3] = {};
std::array<double, 3> smpls{};
double corr_diff;
bool stand_by = true;
double sym;
@ -191,12 +192,10 @@ sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::Symbol_Aligner_And_Dec
// convolutional code properties
d_KK = 7;
const int32_t nn = 2;
int32_t g_encoder[nn];
g_encoder[0] = 121;
g_encoder[1] = 91;
std::array<int32_t, nn> g_encoder{121, 91};
d_vd1 = new Viterbi_Decoder(g_encoder, d_KK, nn);
d_vd2 = new Viterbi_Decoder(g_encoder, d_KK, nn);
d_vd1 = new Viterbi_Decoder(g_encoder.data(), d_KK, nn);
d_vd2 = new Viterbi_Decoder(g_encoder.data(), d_KK, nn);
d_past_symbol = 0;
}

5
src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
View File

@ -41,6 +41,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
@ -149,8 +150,8 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'C';
char sig_[3] = "B1";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'B', '1', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);

5
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -41,6 +41,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
using google::LogMessage;
@ -154,8 +155,8 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'C';
char sig_[3] = "B3";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'B', '3', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);

6
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -41,7 +41,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
ConfigurationInterface* configuration, const std::string& role,
@ -159,8 +159,8 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
int vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
trk_param.system = 'E';
char sig_[3] = "1B";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);

7
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@ -44,9 +44,10 @@
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream> // for operator<<,
#include <iostream> // for operator<<
// the following flags are FPGA-specific and they are using arrange the values of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -171,8 +172,8 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
int32_t vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
trk_param_fpga.system = 'E';
char sig_[3] = "1B";
std::memcpy(trk_param_fpga.signal, sig_, 3);
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{

6
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -40,7 +40,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
@ -156,8 +156,8 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'E';
char sig_[3] = "5X";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);

5
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -40,6 +40,7 @@
#include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <complex>
#include <cstring> // for memcpy
@ -165,8 +166,8 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'E';
char sig_[3] = "5X";
std::memcpy(trk_param_fpga.signal, sig_, 3);
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{

6
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -42,7 +42,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
@ -162,8 +162,8 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'G';
char sig_[3] = "1C";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);

5
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@ -44,6 +44,7 @@
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
@ -173,8 +174,8 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.track_pilot = false;
trk_param_fpga.system = 'G';
char sig_[3] = "1C";
std::memcpy(trk_param_fpga.signal, sig_, 3);
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{

6
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -41,7 +41,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
GpsL2MDllPllTracking::GpsL2MDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
@ -138,8 +138,8 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
trk_param.pll_bw_narrow_hz = 0.0;
trk_param.dll_bw_narrow_hz = 0.0;
trk_param.system = 'G';
char sig_[3] = "2S";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);

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

@ -45,11 +45,11 @@
#include "gps_l2c_signal.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32
@ -98,8 +98,8 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
trk_param_fpga.pll_bw_narrow_hz = 0.0;
trk_param_fpga.dll_bw_narrow_hz = 0.0;
trk_param_fpga.system = 'G';
char sig_[3] = "2S";
std::memcpy(trk_param_fpga.signal, sig_, 3);
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
trk_param_fpga.cn0_samples = cn0_samples;

6
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
View File

@ -41,7 +41,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
GpsL5DllPllTracking::GpsL5DllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
@ -157,8 +157,8 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'G';
char sig_[3] = "L5";
std::memcpy(trk_param.signal, sig_, 3);
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);

5
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -46,6 +46,7 @@
#include "gps_l5_signal.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
@ -172,8 +173,8 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'G';
char sig_[3] = "L5";
std::memcpy(trk_param_fpga.signal, sig_, 3);
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{

48
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -61,13 +61,13 @@
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for fill_n
#include <array>
#include <cmath> // for fmod, round, floor
#include <exception> // for exception
#include <gsl/gsl>
#include <iostream> // for cout, cerr
#include <map>
#include <numeric>
#include <vector>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
@ -1437,92 +1437,92 @@ int32_t dll_pll_veml_tracking::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VE.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL.data(), 0);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VL.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_rate_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_rate_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

48
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -52,13 +52,13 @@
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm>
#include <array>
#include <cmath>
#include <complex>
#include <cstdlib> // for abs, size_t
#include <exception>
#include <iostream>
#include <map>
#include <vector>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
@ -1105,92 +1105,92 @@ int32_t dll_pll_veml_tracking_fpga::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VE.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL.data(), 0);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VL.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_rate_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_rate_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

39
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -48,6 +48,7 @@
#include <matio.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
@ -447,76 +448,76 @@ int32_t glonass_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

39
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -47,6 +47,7 @@
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
@ -395,76 +396,76 @@ int32_t glonass_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

40
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
View File

@ -46,13 +46,13 @@
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
#include <memory>
#include <sstream>
#include <utility>
#include <vector>
#define CN0_ESTIMATION_SAMPLES 10
@ -400,76 +400,76 @@ int32_t Glonass_L1_Ca_Dll_Pll_Tracking_cc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

40
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -46,13 +46,13 @@
#include <matio.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
#include <memory>
#include <sstream>
#include <utility>
#include <vector>
#define CN0_ESTIMATION_SAMPLES 10
@ -446,76 +446,76 @@ int32_t glonass_l2_ca_dll_pll_c_aid_tracking_cc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

39
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -45,6 +45,7 @@
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
@ -394,76 +395,76 @@ int32_t glonass_l2_ca_dll_pll_c_aid_tracking_sc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

39
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc
View File

@ -46,6 +46,7 @@
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
@ -399,76 +400,76 @@ int32_t Glonass_L2_Ca_Dll_Pll_Tracking_cc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

48
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
View File

@ -47,6 +47,7 @@
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath>
#include <exception>
#include <gsl/gsl>
@ -54,7 +55,6 @@
#include <memory>
#include <sstream>
#include <utility>
#include <vector>
gps_l1_ca_kf_tracking_cc_sptr
@ -504,92 +504,92 @@ int32_t Gps_L1_Ca_Kf_Tracking_cc::save_matfile()
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE.data(), 0);
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VE.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL.data(), 0);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VL.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_dopplerrate_hz2", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_dopplerrate_hz2.data(), 0);
matvar = Mat_VarCreate("carrier_dopplerrate_hz2", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_dopplerrate_hz2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_noise_sigma2", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_noise_sigma2.data(), 0);
matvar = Mat_VarCreate("carr_noise_sigma2", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_noise_sigma2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), aux1.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}

6
src/algorithms/tracking/libs/dll_pll_conf.cc
View File

@ -32,7 +32,6 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <cstring>
Dll_Pll_Conf::Dll_Pll_Conf()
{
@ -72,6 +71,7 @@ Dll_Pll_Conf::Dll_Pll_Conf()
enable_doppler_correction = false;
track_pilot = false;
system = 'G';
char sig_[3] = "1C";
std::memcpy(signal, sig_, 3);
signal[0] = '1';
signal[1] = 'C';
signal[2] = '\0';
}

6
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc
View File

@ -32,7 +32,6 @@
#include "dll_pll_conf_fpga.h"
#include <cstring>
Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
{
@ -68,8 +67,9 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
carrier_lock_th = 0.85;
track_pilot = false;
system = 'G';
char sig_[3] = "1C";
std::memcpy(signal, sig_, 3);
signal[0] = '1';
signal[1] = 'C';
signal[2] = '\0';
device_name = "/dev/uio";
device_base = 1U;
multicorr_type = 0U;

1
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@ -38,7 +38,6 @@
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath>
#include <cstdio>
#include <fcntl.h> // for O_RDWR, O_RSYNC
#include <string>
#include <sys/mman.h> // for PROT_READ, PROT_WRITE, MAP_SHARED

23
src/core/libs/ini.cc
View File

@ -54,6 +54,7 @@
*/
#include "ini.h"
#include <array>
#include <cctype>
#include <fstream>
#include <string>
@ -112,9 +113,9 @@ int ini_parse(const char* filename,
void* user)
{
/* Uses a fair bit of stack (use heap instead if you need to) */
char line[MAX_LINE];
char section[MAX_SECTION] = "";
char prev_name[MAX_NAME] = "";
std::array<char, MAX_LINE> line{};
std::array<char, MAX_SECTION> section{};
std::array<char, MAX_NAME> prev_name{};
std::ifstream file;
char* start;
@ -147,14 +148,14 @@ int ini_parse(const char* filename,
line[i] = read_line[i];
}
line[len_str] = '\0';
start = lskip(rstrip(line));
start = lskip(rstrip(line.data()));
#if INI_ALLOW_MULTILINE
if (*prev_name && *start && start > line)
if (prev_name.data() && *start && start > line.data())
{
/* Non-black line with leading whitespace, treat as continuation
of previous name's value (as per Python ConfigParser). */
if (!handler(user, section, prev_name, start) && !error)
of previous name's value (as per Python ConfigParser). */
if (!handler(user, section.data(), prev_name.data(), start) && !error)
{
error = lineno;
}
@ -168,8 +169,8 @@ int ini_parse(const char* filename,
if (*end == ']')
{
*end = '\0';
strncpy0(section, start + 1, sizeof(section));
*prev_name = '\0';
strncpy0(section.data(), start + 1, sizeof(section));
prev_name[MAX_NAME - 1] = '\0';
}
else if (!error)
{
@ -194,8 +195,8 @@ int ini_parse(const char* filename,
rstrip(value);
/* Valid name=value pair found, call handler */
strncpy0(prev_name, name, sizeof(prev_name));
if (!handler(user, section, name, value) && !error)
strncpy0(prev_name.data(), name, sizeof(prev_name));
if (!handler(user, section.data(), name, value) && !error)
{
error = lineno;
}

12
src/core/libs/supl/supl.c
View File

@ -326,11 +326,19 @@ static int server_connect(char *server)
}
if (connect(fd, aip->ai_addr, aip->ai_addrlen) != 0)
{
freeaddrinfo(aip);
if (close(fd) != 0)
{
// avoid warning
}
return -1;
}
break;
else
{
break;
}
}
freeaddrinfo(aip);
return fd;
}

7
src/core/receiver/tcp_cmd_interface.cc
View File

@ -33,6 +33,7 @@
#include "control_message_factory.h"
#include "pvt_interface.h"
#include <boost/asio.hpp>
#include <array>
#include <cmath> // for isnan
#include <exception> // for exception
#include <iomanip> // for setprecision
@ -151,10 +152,10 @@ std::string TcpCmdInterface::status(const std::vector<std::string> &commandLine
&UTC_time) == true)
{
struct tm tstruct = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, nullptr};
char buf1[80];
std::array<char, 80> buf1{};
tstruct = *gmtime(&UTC_time);
strftime(buf1, sizeof(buf1), "%d/%m/%Y %H:%M:%S", &tstruct);
std::string str_time = std::string(buf1);
strftime(buf1.data(), sizeof(buf1), "%d/%m/%Y %H:%M:%S", &tstruct);
std::string str_time = std::string(buf1.data());
str_stream << "- Receiver UTC Time: " << str_time << std::endl;
str_stream << std::setprecision(9);
str_stream << "- Receiver Position WGS84 [Lat, Long, H]: "

8
src/core/system_parameters/gnss_satellite.cc
View File

@ -91,7 +91,7 @@ bool operator==(const Gnss_Satellite& sat1, const Gnss_Satellite& sat2)
// Copy constructor
Gnss_Satellite::Gnss_Satellite(Gnss_Satellite&& other)
Gnss_Satellite::Gnss_Satellite(Gnss_Satellite&& other) noexcept
{
*this = other;
}
@ -113,14 +113,14 @@ Gnss_Satellite& Gnss_Satellite::operator=(const Gnss_Satellite& rhs)
// Move constructor
Gnss_Satellite::Gnss_Satellite(const Gnss_Satellite& other)
Gnss_Satellite::Gnss_Satellite(const Gnss_Satellite& other) noexcept
{
*this = std::move(other);
*this = other;
}
// Move assignment operator
Gnss_Satellite& Gnss_Satellite::operator=(Gnss_Satellite&& other)
Gnss_Satellite& Gnss_Satellite::operator=(Gnss_Satellite&& other) noexcept
{
if (this != &other)
{

8
src/core/system_parameters/gnss_satellite.h
View File

@ -62,10 +62,10 @@ public:
friend bool operator==(const Gnss_Satellite& /*sat1*/, const Gnss_Satellite& /*sat2*/); //!< operator== for comparison
friend std::ostream& operator<<(std::ostream& /*out*/, const Gnss_Satellite& /*sat*/); //!< operator<< for pretty printing
Gnss_Satellite(Gnss_Satellite&& other); //!< Copy constructor
Gnss_Satellite& operator=(const Gnss_Satellite&); //!< Copy assignment operator
Gnss_Satellite(const Gnss_Satellite& other); //!< Move constructor
Gnss_Satellite& operator=(Gnss_Satellite&& other); //!< Move assignment operator
Gnss_Satellite(Gnss_Satellite&& other) noexcept; //!< Copy constructor
Gnss_Satellite& operator=(const Gnss_Satellite&); //!< Copy assignment operator
Gnss_Satellite(const Gnss_Satellite& other) noexcept; //!< Move constructor
Gnss_Satellite& operator=(Gnss_Satellite&& other) noexcept; //!< Move assignment operator
private:
uint32_t PRN{};

10
src/tests/CMakeLists.txt
View File

@ -744,6 +744,16 @@ add_executable(matio_test
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/arithmetic/matio_test.cc
)
if(${FILESYSTEM_FOUND})
target_compile_definitions(matio_test PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
target_compile_definitions(matio_test PRIVATE -DHAS_STD_FILESYSTEM_EXPERIMENTAL=1)
endif()
target_link_libraries(matio_test PRIVATE std::filesystem)
else()
target_link_libraries(matio_test PRIVATE Boost::filesystem Boost::system)
endif()
target_link_libraries(matio_test
PUBLIC
Gflags::gflags

1
src/tests/common-files/gnuplot_i.h
View File

@ -49,7 +49,6 @@
#include <gflags/gflags.h>
#include <cmath>
#include <cstdio>
#include <cstdlib> // for getenv()
#include <cstring> // for strncpy
#include <fstream>

20
src/tests/system-tests/position_test.cc
View File

@ -52,6 +52,7 @@
#include <gtest/gtest.h>
#include <matio.h>
#include <algorithm>
#include <array>
#include <chrono>
#include <cmath>
#include <fstream>
@ -361,16 +362,16 @@ int PositionSystemTest::run_receiver()
std::this_thread::sleep_for(std::chrono::milliseconds(2000));
FILE* fp;
std::string argum2 = std::string("/bin/ls *kml | tail -1");
char buffer[1035];
std::array<char, 1035> buffer{};
fp = popen(&argum2[0], "r");
if (fp == nullptr)
{
std::cout << "Failed to run command: " << argum2 << std::endl;
return -1;
}
while (fgets(buffer, sizeof(buffer), fp) != nullptr)
while (fgets(buffer.data(), sizeof(buffer), fp) != nullptr)
{
std::string aux = std::string(buffer);
std::string aux = std::string(buffer.data());
EXPECT_EQ(aux.empty(), false);
PositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
}
@ -392,12 +393,12 @@ bool PositionSystemTest::save_mat_xy(std::vector<double>* x, std::vector<double>
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT5);
if (reinterpret_cast<int64_t*>(matfp) != nullptr)
{
size_t dims[2] = {1, x->size()};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
std::array<size_t, 2> dims{1, x->size()};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), &x[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &y[0], 0);
matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), &y[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
@ -415,6 +416,7 @@ bool PositionSystemTest::save_mat_xy(std::vector<double>* x, std::vector<double>
}
}
bool PositionSystemTest::save_mat_x(std::vector<double>* x, std::string filename)
{
try
@ -427,8 +429,8 @@ bool PositionSystemTest::save_mat_x(std::vector<double>* x, std::string filename
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT5);
if (reinterpret_cast<int64_t*>(matfp) != nullptr)
{
size_t dims[2] = {1, x->size()};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
std::array<size_t, 2> dims{1, x->size()};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), &x[0], 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
@ -446,6 +448,7 @@ bool PositionSystemTest::save_mat_x(std::vector<double>* x, std::string filename
}
}
void PositionSystemTest::check_results()
{
arma::mat R_eb_e; //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
@ -931,6 +934,7 @@ void PositionSystemTest::print_results(const arma::mat& R_eb_enu)
}
}
TEST_F(PositionSystemTest /*unused*/, Position_system_test /*unused*/)
{
if (FLAGS_config_file_ptest.empty())

55
src/tests/unit-tests/arithmetic/matio_test.cc
View File

@ -33,7 +33,26 @@
#include <gnuradio/gr_complex.h>
#include <gtest/gtest.h>
#include <matio.h>
#include <cstdio>
#include <array>
#if HAS_STD_FILESYSTEM
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
TEST(MatioTest, WriteAndReadDoubles)
{
@ -44,9 +63,9 @@ TEST(MatioTest, WriteAndReadDoubles)
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
ASSERT_FALSE(reinterpret_cast<long *>(matfp) == nullptr) << "Error creating .mat file";
double x[10] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
size_t dims[2] = {10, 1};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, x, 0);
std::array<double, 10> x{1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
std::array<size_t, 2> dims{10, 1};
matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), x.data(), 0);
ASSERT_FALSE(reinterpret_cast<long *>(matvar) == nullptr) << "Error creating variable for ’x’";
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
@ -73,7 +92,8 @@ TEST(MatioTest, WriteAndReadDoubles)
EXPECT_DOUBLE_EQ(x[i], x_read[i]);
}
Mat_VarFree(matvar_read);
ASSERT_EQ(remove(filename.c_str()), 0);
errorlib::error_code ec;
ASSERT_EQ(fs::remove(fs::path(filename), ec), true);
}
@ -86,10 +106,10 @@ TEST(MatioTest, WriteAndReadGrComplex)
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
ASSERT_FALSE(reinterpret_cast<long *>(matfp) == nullptr) << "Error creating .mat file";
std::vector<gr_complex> x_v = {{1, 10}, {2, 9}, {3, 8}, {4, 7}, {5, 6}, {6, -5}, {7, -4}, {8, 3}, {9, 2}, {10, 1}};
const std::vector<gr_complex> x_v = {{1, 10}, {2, 9}, {3, 8}, {4, 7}, {5, 6}, {6, -5}, {7, -4}, {8, 3}, {9, 2}, {10, 1}};
const unsigned int size = x_v.size();
float x_real[size];
float x_imag[size];
std::array<float, 10> x_real{};
std::array<float, 10> x_imag{};
unsigned int i = 0;
for (auto it : x_v)
{
@ -98,15 +118,15 @@ TEST(MatioTest, WriteAndReadGrComplex)
i++;
}
struct mat_complex_split_t x = {x_real, x_imag};
size_t dims[2] = {static_cast<size_t>(size), 1};
matvar1 = Mat_VarCreate("x", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, &x, MAT_F_COMPLEX);
struct mat_complex_split_t x = {x_real.data(), x_imag.data()};
std::array<size_t, 2> dims{static_cast<size_t>(size), 1};
matvar1 = Mat_VarCreate("x", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), &x, MAT_F_COMPLEX);
ASSERT_FALSE(reinterpret_cast<long *>(matvar1) == nullptr) << "Error creating variable for ’x’";
std::vector<gr_complex> x2 = {{1.1, -10}, {2, -9}, {3, -8}, {4, -7}, {5, 6}, {6, -5}, {7, -4}, {8, 3}, {9, 2}, {10, 1}};
const unsigned int size_y = x2.size();
float y_real[size_y];
float y_imag[size_y];
std::array<float, 10> y_real{};
std::array<float, 10> y_imag{};
i = 0;
for (auto it : x2)
{
@ -115,10 +135,10 @@ TEST(MatioTest, WriteAndReadGrComplex)
i++;
}
struct mat_complex_split_t y = {y_real, y_imag};
size_t dims_y[2] = {static_cast<size_t>(size_y), 1};
struct mat_complex_split_t y = {y_real.data(), y_imag.data()};
std::array<size_t, 2> dims_y{static_cast<size_t>(size_y), 1};
matvar_t *matvar2;
matvar2 = Mat_VarCreate("y", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims_y, &y, MAT_F_COMPLEX);
matvar2 = Mat_VarCreate("y", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims_y.data(), &y, MAT_F_COMPLEX);
ASSERT_FALSE(reinterpret_cast<long *>(matvar2) == nullptr) << "Error creating variable for ’y’";
Mat_VarWrite(matfp, matvar1, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
@ -156,5 +176,6 @@ TEST(MatioTest, WriteAndReadGrComplex)
EXPECT_FLOAT_EQ(x_v[i].real(), x_v_read[i].real());
EXPECT_FLOAT_EQ(x_v[i].imag(), x_v_read[i].imag());
}
ASSERT_EQ(remove(filename.c_str()), 0);
errorlib::error_code ec;
ASSERT_EQ(fs::remove(fs::path(filename), ec), true);
}

9
src/tests/unit-tests/signal-processing-blocks/adapter/adapter_test.cc
View File

@ -40,6 +40,7 @@
#include <gtest/gtest.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm>
#include <array>
#include <cstdint>
#include <fstream>
#include <iterator>
@ -69,13 +70,13 @@ DataTypeAdapter::DataTypeAdapter()
{
file_name_input = "adapter_test_input.dat";
file_name_output = "adapter_test_output.dat";
int8_t input_bytes[] = {2, 23, -1, 127, -127, 0};
int16_t input_shorts[] = {2, 23, -1, 127, -127, 0, 255, 255};
std::array<int8_t, 6> input_bytes{2, 23, -1, 127, -127, 0};
std::array<int16_t, 8> input_shorts{2, 23, -1, 127, -127, 0, 255, 255};
const std::vector<int8_t> input_data_bytes_(input_bytes, input_bytes + sizeof(input_bytes) / sizeof(int8_t));
const std::vector<int8_t> input_data_bytes_(input_bytes.data(), input_bytes.data() + sizeof(input_bytes) / sizeof(int8_t));
input_data_bytes = input_data_bytes_;
const std::vector<int16_t> input_data_shorts_(input_shorts, input_shorts + sizeof(input_shorts) / sizeof(int16_t));
const std::vector<int16_t> input_data_shorts_(input_shorts.data(), input_shorts.data() + sizeof(input_shorts) / sizeof(int16_t));
input_data_shorts = input_data_shorts_;
}

22
src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
View File

@ -32,10 +32,27 @@
#include "nmea_printer.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solver.h"
#include <cstdio>
#include <fstream>
#include <string>
#if HAS_STD_FILESYSTEM
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
class NmeaPrinterTest : public ::testing::Test
{
@ -196,5 +213,6 @@ TEST_F(NmeaPrinterTest, PrintLine)
}
test_file.close();
}
EXPECT_EQ(0, remove(filename.c_str())) << "Failure deleting a temporary file.";
errorlib::error_code ec;
EXPECT_EQ(true, fs::remove(fs::path(filename), ec)) << "Failure deleting a temporary file.";
}