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Improve const correctness. Improve usage of typeid

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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
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29
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@@ -158,7 +158,7 @@ hybrid_observables_gs::~hybrid_observables_gs()
DLOG(INFO) << "Observables block destructor called.";
if (d_dump_file.is_open())
{
auto pos = d_dump_file.tellp();
const auto pos = d_dump_file.tellp();
try
{
d_dump_file.close();
@@ -196,10 +196,9 @@ 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))
if (pmt::any_ref(msg).type().hash_code() == d_double_type_hash_code)
{
double new_rx_clock_offset_s;
new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
const auto new_rx_clock_offset_s = boost::any_cast<double>(pmt::any_ref(msg));
d_T_rx_TOW_ms = d_T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
// align the receiver clock to integer multiple of 20 ms
if (d_T_rx_TOW_ms % 20)
@@ -227,8 +226,8 @@ int32_t hybrid_observables_gs::save_matfile() const
// READ DUMP FILE
std::string dump_filename = d_dump_filename;
std::ifstream::pos_type size;
int32_t number_of_double_vars = 7;
int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels_out;
const int32_t number_of_double_vars = 7;
const int32_t epoch_size_bytes = sizeof(double) * number_of_double_vars * d_nchannels_out;
std::ifstream dump_file;
std::cout << "Generating .mat file for " << dump_filename << '\n';
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
@@ -416,11 +415,11 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, uint3
interpolated_obs = d_gnss_synchro_history->get(ch, nearest_element);
// 2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
double T_rx_s = static_cast<double>(rx_clock) / static_cast<double>(interpolated_obs.fs);
const double T_rx_s = static_cast<double>(rx_clock) / static_cast<double>(interpolated_obs.fs);
double time_factor = (T_rx_s - d_gnss_synchro_history->get(ch, t1_idx).RX_time) /
(d_gnss_synchro_history->get(ch, t2_idx).RX_time -
d_gnss_synchro_history->get(ch, t1_idx).RX_time);
const double time_factor = (T_rx_s - d_gnss_synchro_history->get(ch, t1_idx).RX_time) /
(d_gnss_synchro_history->get(ch, t2_idx).RX_time -
d_gnss_synchro_history->get(ch, t1_idx).RX_time);
// CARRIER PHASE INTERPOLATION
interpolated_obs.Carrier_phase_rads = d_gnss_synchro_history->get(ch, t1_idx).Carrier_phase_rads + (d_gnss_synchro_history->get(ch, t2_idx).Carrier_phase_rads - d_gnss_synchro_history->get(ch, t1_idx).Carrier_phase_rads) * time_factor;
@@ -517,8 +516,8 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data) con
// std::cout.precision(17);
// std::cout << " d_T_rx_TOW_ms: " << static_cast<double>(d_T_rx_TOW_ms) << '\n';
std::vector<Gnss_Synchro>::iterator it;
auto current_T_rx_TOW_ms = static_cast<double>(d_T_rx_TOW_ms);
double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
const auto current_T_rx_TOW_ms = static_cast<double>(d_T_rx_TOW_ms);
const double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
for (it = data.begin(); it != data.end(); it++)
{
if (it->Flag_valid_word)
@@ -591,8 +590,8 @@ void hybrid_observables_gs::smooth_pseudoranges(std::vector<Gnss_Synchro> &data)
{
// 2. Compute the smoothed pseudorange for this channel
// Hatch filter algorithm (https://insidegnss.com/can-you-list-all-the-properties-of-the-carrier-smoothing-filter/)
double r_sm = d_channel_last_pseudorange_smooth[it->Channel_ID];
double factor = ((d_smooth_filter_M - 1.0) / d_smooth_filter_M);
const double r_sm = d_channel_last_pseudorange_smooth[it->Channel_ID];
const double factor = ((d_smooth_filter_M - 1.0) / d_smooth_filter_M);
it->Pseudorange_m = factor * r_sm + (1.0 / d_smooth_filter_M) * it->Pseudorange_m + wavelength_m * (factor / TWO_PI) * (it->Carrier_phase_rads - d_channel_last_carrier_phase_rads[it->Channel_ID]);
}
d_channel_last_pseudorange_smooth[it->Channel_ID] = it->Pseudorange_m;
@@ -704,7 +703,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data[n]);
const std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data[n]);
// publish valid gnss_synchro to the gnss_flowgraph channel status monitor
this->message_port_pub(pmt::mp("status"), pmt::make_any(gnss_synchro_sptr));
}

4
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
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@@ -27,11 +27,13 @@
#include <boost/circular_buffer.hpp> // for boost::circular_buffer
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_int
#include <cstddef> // for size_t
#include <cstdint> // for int32_t
#include <fstream> // for std::ofstream
#include <map> // for std::map
#include <memory> // for std::shared, std:unique_ptr
#include <string> // for std::string
#include <typeinfo> // for typeid
#include <vector> // for std::vector
#if GNURADIO_USES_STD_POINTERS
#else
@@ -68,6 +70,8 @@ private:
explicit hybrid_observables_gs(const Obs_Conf& conf_);
const size_t d_double_type_hash_code = typeid(double).hash_code();
void msg_handler_pvt_to_observables(const pmt::pmt_t& msg);
double compute_T_rx_s(const Gnss_Synchro& a) const;
bool interp_trk_obs(Gnss_Synchro& interpolated_obs, uint32_t ch, uint64_t rx_clock) const;