mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-10-24 03:57:39 +00:00
Code Issues Releases Wiki Activity

Improve const correctness. Improve usage of typeid

Browse Source
This commit is contained in:
Carles Fernandez
2020-07-19 09:39:32 +02:00
parent 8f2973eab9
commit c0f81dd9e2
33 changed files with 1566 additions and 1575 deletions
Download Patch File Download Diff File Expand all files Collapse all files

64
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -61,15 +61,15 @@ namespace errorlib = boost::system;
#endif
Rtklib_Solver::Rtklib_Solver(int nchannels, const std::string &dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk, int nchannels, const std::string &dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat)
{
// init empty ephemeris for all the available GNSS channels
rtk_ = rtk;
d_nchannels = nchannels;
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat;
this->set_averaging_flag(false);
rtk_ = rtk;
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
@@ -96,7 +96,7 @@ Rtklib_Solver::~Rtklib_Solver()
DLOG(INFO) << "Rtklib_Solver destructor called.";
if (d_dump_file.is_open() == true)
{
auto pos = d_dump_file.tellp();
const auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
@@ -129,19 +129,18 @@ Rtklib_Solver::~Rtklib_Solver()
}
bool Rtklib_Solver::save_matfile()
bool Rtklib_Solver::save_matfile() const
{
// READ DUMP FILE
std::string dump_filename = d_dump_filename;
std::ifstream::pos_type size;
int32_t number_of_double_vars = 21;
int32_t number_of_uint32_vars = 2;
int32_t number_of_uint8_vars = 3;
int32_t number_of_float_vars = 2;
int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars +
sizeof(uint32_t) * number_of_uint32_vars +
sizeof(uint8_t) * number_of_uint8_vars +
sizeof(float) * number_of_float_vars;
const std::string dump_filename = d_dump_filename;
const int32_t number_of_double_vars = 21;
const int32_t number_of_uint32_vars = 2;
const int32_t number_of_uint8_vars = 3;
const int32_t number_of_float_vars = 2;
const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars +
sizeof(uint32_t) * number_of_uint32_vars +
sizeof(uint8_t) * number_of_uint8_vars +
sizeof(float) * number_of_float_vars;
std::ifstream dump_file;
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
@@ -158,7 +157,7 @@ bool Rtklib_Solver::save_matfile()
if (dump_file.is_open())
{
std::cout << "Generating .mat file for " << dump_filename << '\n';
size = dump_file.tellg();
const std::ifstream::pos_type size = dump_file.tellg();
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
dump_file.seekg(0, std::ios::beg);
}
@@ -433,7 +432,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
case 'G':
{
std::string sig_(gnss_observables_iter->second.Signal);
const std::string sig_(gnss_observables_iter->second.Signal);
if (sig_ == "1C")
{
band1 = true;
@@ -462,7 +461,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
case 'E':
{
std::string sig_(gnss_observables_iter->second.Signal);
const std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1
if (sig_ == "1B")
{
@@ -473,7 +472,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
@@ -512,7 +511,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@@ -543,7 +542,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, this->is_pre_2009());
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week,
@@ -589,7 +588,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@@ -636,7 +635,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@@ -656,7 +655,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
case 'R': // TODO This should be using rtk lib nomenclature
{
std::string sig_(gnss_observables_iter->second.Signal);
const std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if (sig_ == "1G")
{
@@ -667,7 +666,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
@@ -705,7 +704,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
@@ -724,7 +723,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
// BEIDOU B1I
// - find the ephemeris for the current BEIDOU SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal);
const std::string sig_(gnss_observables_iter->second.Signal);
if (sig_ == "B1")
{
beidou_ephemeris_iter = beidou_dnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@@ -733,7 +732,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(beidou_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
@@ -770,7 +769,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(beidou_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@@ -981,12 +980,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
DLOG(INFO) << "RTKLIB Position at RX TOW = " << gnss_observables_map.begin()->second.RX_time
<< " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time[0] << ", " << rx_position_and_time[1] << ", " << rx_position_and_time[2] << ", " << rx_position_and_time[4];
boost::posix_time::ptime p_time;
// gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time); // Corrected RX Time (Non integer multiply of 1 ms of granularity)
// Uncorrected RX Time (integer multiply of 1 ms and the same observables time reported in RTCM and RINEX)
gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time[3]); // uncorrected rx time
gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
const gtime_t rtklib_time = timeadd(pvt_sol.time, rx_position_and_time[3]); // uncorrected rx time
const gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
boost::posix_time::ptime p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int)
this->set_position_UTC_time(p_time);
@@ -1048,7 +1046,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
const double clock_drift_ppm = pvt_sol.dtr[5] / SPEED_OF_LIGHT_M_S * 1e6;
this->set_clock_drift_ppm(clock_drift_ppm);
// User clock drift [ppm]