Merge pull request #152 from antonioramosdet/speed_up_observables

Change std::deque to boost::circular_shift

src/algorithms/libs/gnss_circular_deque.h

@@ -0,0 +1,135 @@
+/*!
+ * \file gnss_circular_deque.h
+ * \brief This class implements a circular deque for Gnss_Synchro
+ *
+ * \author Luis Esteve, 2018. antonio.ramos(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_CIRCULAR_DEQUE_H_
+#define GNSS_SDR_CIRCULAR_DEQUE_H_
+#include <vector>
+#include <boost/circular_buffer.hpp>
+
+template <class T>
+class Gnss_circular_deque
+{
+public:
+    Gnss_circular_deque();                                                        // Default constructor
+    Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann);  // nchann = number of channels; max_size = channel capacity
+    unsigned int size(const unsigned int ch);                                     // Returns the number of available elements in a channel
+    T& at(const unsigned int ch, const unsigned int pos);                         // Returns a reference to an element
+    T& front(const unsigned int ch);                                              // Returns a reference to the first element in the deque
+    T& back(const unsigned int ch);                                               // Returns a reference to the last element in the deque
+    void push_back(const unsigned int ch, const T& new_data);                     // Inserts an element at the end of the deque
+    void pop_front(const unsigned int ch);                                        // Removes the first element of the deque
+    void clear(const unsigned int ch);                                            // Removes all the elements of the deque (Sets size to 0). Capacity is not modified
+    void reset(const unsigned int max_size, const unsigned int nchann);           // Removes all the elements in all the channels. Re-sets the number of channels and their capacity
+    void reset();                                                                 // Removes all the channels (Sets nchann to 0)
+
+private:
+    std::vector<boost::circular_buffer<T>> d_data;
+};
+
+
+template <class T>
+Gnss_circular_deque<T>::Gnss_circular_deque()
+{
+    reset();
+}
+
+template <class T>
+Gnss_circular_deque<T>::Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann)
+{
+    reset(max_size, nchann);
+}
+
+template <class T>
+unsigned int Gnss_circular_deque<T>::size(const unsigned int ch)
+{
+    return d_data.at(ch).size();
+}
+
+template <class T>
+T& Gnss_circular_deque<T>::back(const unsigned int ch)
+{
+    return d_data.at(ch).back();
+}
+
+
+template <class T>
+T& Gnss_circular_deque<T>::front(const unsigned int ch)
+{
+    return d_data.at(ch).front();
+}
+
+
+template <class T>
+T& Gnss_circular_deque<T>::at(const unsigned int ch, const unsigned int pos)
+{
+    return d_data.at(ch).at(pos);
+}
+
+template <class T>
+void Gnss_circular_deque<T>::clear(const unsigned int ch)
+{
+    d_data.at(ch).clear();
+}
+
+template <class T>
+void Gnss_circular_deque<T>::reset(const unsigned int max_size, const unsigned int nchann)
+{
+    d_data.clear();
+    if (max_size > 0 and nchann > 0)
+        {
+            for (unsigned int i = 0; i < nchann; i++)
+                {
+                    d_data.push_back(boost::circular_buffer<T>(max_size));
+                }
+        }
+}
+
+template <class T>
+void Gnss_circular_deque<T>::reset()
+{
+    d_data.clear();
+}
+
+template <class T>
+void Gnss_circular_deque<T>::pop_front(const unsigned int ch)
+{
+    d_data.at(ch).pop_front();
+}
+
+template <class T>
+void Gnss_circular_deque<T>::push_back(const unsigned int ch, const T& new_data)
+{
+    d_data.at(ch).push_back(new_data);
+}
+
+#endif /* GNSS_SDR_CIRCULAR_DEQUE_H_ */

src/algorithms/observables/adapters/CMakeLists.txt

@@ -26,6 +26,7 @@ include_directories(
      ${CMAKE_SOURCE_DIR}/src/core/interfaces
      ${CMAKE_SOURCE_DIR}/src/core/receiver
      ${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks
+     ${CMAKE_SOURCE_DIR}/src/algorithms/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
      ${GLOG_INCLUDE_DIRS}
      ${GFlags_INCLUDE_DIRS}

src/algorithms/observables/gnuradio_blocks/CMakeLists.txt

@@ -39,8 +39,8 @@ list(SORT OBS_GR_BLOCKS_HEADERS)
 add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
 if(MATIO_FOUND)
-    add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
+    add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
 else(MATIO_FOUND)
-    add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+    add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
 endif(MATIO_FOUND)
-target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
+target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})

src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc

@@ -63,14 +63,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
     d_dump_filename = dump_filename;
     T_rx_s = 0.0;
     T_rx_step_s = 0.001;  // 1 ms
-    max_delta = 0.15;     // 150 ms
+    max_delta = 3.5;      // 3.5 s
+    d_latency = 0.08;     // 80 ms
     valid_channels.resize(d_nchannels, false);
     d_num_valid_channels = 0;
-
+    d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels);
-    for (unsigned int i = 0; i < d_nchannels; i++)
-        {
-            d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
-        }
 
     // ############# ENABLE DATA FILE LOG #################
     if (d_dump)
@@ -95,6 +92,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
 
 hybrid_observables_cc::~hybrid_observables_cc()
 {
+    delete d_gnss_synchro_history;
     if (d_dump_file.is_open())
         {
             try
@@ -302,40 +300,29 @@ int hybrid_observables_cc::save_matfile()
 }
 
 
-bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
+bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti)
 {
-    if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
+    if ((ti < d_gnss_synchro_history->front(ch).RX_time) or (ti > d_gnss_synchro_history->back(ch).RX_time))
         {
             return false;
         }
-    std::deque<Gnss_Synchro>::iterator it;
+    std::pair<unsigned int, unsigned int> ind = find_interp_elements(ch, ti);
 
-    arma::vec t = arma::vec(data.size());
+    //Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
-    arma::vec dop = t;
-    arma::vec cph = t;
-    arma::vec tow = t;
-    arma::vec tiv = arma::vec(1);
-    arma::vec result;
-    tiv(0) = ti;
 
-    unsigned int aux = 0;
+    // CARRIER PHASE INTERPOLATION
-    for (it = data.begin(); it != data.end(); it++)
-        {
-            t(aux) = it->RX_time;
-            dop(aux) = it->Carrier_Doppler_hz;
-            cph(aux) = it->Carrier_phase_rads;
-            tow(aux) = it->TOW_at_current_symbol_s;
 
-            aux++;
+    out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, ind.second).Carrier_phase_rads - d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
-        }
-    arma::interp1(t, dop, tiv, result);
-    out.Carrier_Doppler_hz = result(0);
-    arma::interp1(t, cph, tiv, result);
-    out.Carrier_phase_rads = result(0);
-    arma::interp1(t, tow, tiv, result);
-    out.TOW_at_current_symbol_s = result(0);
 
-    return result.is_finite();
+    // CARRIER DOPPLER INTERPOLATION
+
+    out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, ind.second).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
+
+    // TOW INTERPOLATION
+
+    out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, ind.second).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time);
+
+    return true;
 }
 
 
@@ -351,6 +338,40 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
         }
 }
 
+std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
+{
+    unsigned int closest = 0;
+    double dif = std::numeric_limits<double>::max();
+    double dt = 0.0;
+    for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++)
+        {
+            dt = ti - d_gnss_synchro_history->at(ch, i).RX_time;
+            if (dt < dif and dt > 0.0)
+                {
+                    dif = dt;
+                    closest = i;
+                }
+        }
+    unsigned int index1;
+    unsigned int index2;
+    if (closest == 0)
+        {
+            index1 = 0;
+            index2 = 1;
+        }
+    else if (closest == (d_gnss_synchro_history->size(ch) - 1))
+        {
+            index1 = d_gnss_synchro_history->size(ch) - 2;
+            index2 = d_gnss_synchro_history->size(ch) - 1;
+        }
+    else
+        {
+            index1 = closest;
+            index2 = closest + 1;
+        }
+    return std::pair<unsigned int, unsigned int>(index1, index2);
+}
+
 
 void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
     gr_vector_int &ninput_items_required)
@@ -363,13 +384,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
 }
 
 
-void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
+void hybrid_observables_cc::clean_history(unsigned int pos)
 {
-    while (data.size() > 0)
+    while (d_gnss_synchro_history->size(pos) > 0)
         {
-            if ((T_rx_s - data.front().RX_time) > max_delta)
+            if ((T_rx_s - d_gnss_synchro_history->front(pos).RX_time) > max_delta)
                 {
-                    data.pop_front();
+                    d_gnss_synchro_history->pop_front(pos);
                 }
             else
                 {
@@ -454,11 +475,9 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
         }
     //////////////////////////////////////////////////////////////////////////
 
-    std::vector<std::deque<Gnss_Synchro>>::iterator it;
     if (total_input_items > 0)
         {
-            i = 0;
+            for (i = 0; i < d_nchannels; i++)
-            for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
                 {
                     if (ninput_items[i] > 0)
                         {
@@ -467,26 +486,25 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
                                 {
                                     if (in[i][aux].Flag_valid_word)
                                         {
-                                            it->push_back(in[i][aux]);
+                                            d_gnss_synchro_history->push_back(i, in[i][aux]);
-                                            it->back().RX_time = compute_T_rx_s(in[i][aux]);
+                                            d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]);
                                             // Check if the last Gnss_Synchro comes from the same satellite as the previous ones
-                                            if (it->size() > 1)
+                                            if (d_gnss_synchro_history->size(i) > 1)
                                                 {
-                                                    if (it->front().PRN != it->back().PRN)
+                                                    if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN)
                                                         {
-                                                            it->clear();
+                                                            d_gnss_synchro_history->clear(i);
                                                         }
                                                 }
                                         }
                                 }
                             consume(i, ninput_items[i]);
                         }
-                    i++;
                 }
         }
     for (i = 0; i < d_nchannels; i++)
         {
-            if (d_gnss_synchro_history.at(i).size() > 2)
+            if (d_gnss_synchro_history->size(i) > 2)
                 {
                     valid_channels[i] = true;
                 }
@@ -506,8 +524,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
         {
             if (valid_channels[i])
                 {
-                    clean_history(d_gnss_synchro_history.at(i));
+                    clean_history(i);
-                    if (d_gnss_synchro_history.at(i).size() < 2)
+                    if (d_gnss_synchro_history->size(i) < 2)
                         {
                             valid_channels[i] = false;
                         }
@@ -516,20 +534,19 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
 
     // Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time
     d_num_valid_channels = valid_channels.count();
-    double T_rx_s_out = T_rx_s - (max_delta / 2.0);
+    double T_rx_s_out = T_rx_s - d_latency;
     if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0))
         {
             return 0;
         }
 
     std::vector<Gnss_Synchro> epoch_data;
-    i = 0;
+    for (i = 0; i < d_nchannels; i++)
-    for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
         {
             if (valid_channels[i])
                 {
-                    Gnss_Synchro interpolated_gnss_synchro = it->back();
+                    Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i);
-                    if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
+                    if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
                         {
                             epoch_data.push_back(interpolated_gnss_synchro);
                         }
@@ -538,7 +555,6 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
                             valid_channels[i] = false;
                         }
                 }
-            i++;
         }
     d_num_valid_channels = valid_channels.count();
     if (d_num_valid_channels == 0)
@@ -546,14 +562,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
             return 0;
         }
     correct_TOW_and_compute_prange(epoch_data);
-    std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
+    std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
     for (i = 0; i < d_nchannels; i++)
         {
             if (valid_channels[i])
                 {
-                    out[i][0] = (*it2);
+                    out[i][0] = (*it);
                     out[i][0].Flag_valid_pseudorange = true;
-                    it2++;
+                    it++;
                 }
             else
                 {

src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h

@@ -35,12 +35,12 @@
 #define GNSS_SDR_HYBRID_OBSERVABLES_CC_H
 
 #include "gnss_synchro.h"
+#include "gnss_circular_deque.h"
 #include <gnuradio/block.h>
 #include <boost/dynamic_bitset.hpp>
 #include <fstream>
 #include <string>
-#include <vector>
+#include <utility>
-#include <deque>
 
 
 class hybrid_observables_cc;
@@ -65,18 +65,20 @@ private:
     friend hybrid_observables_cc_sptr
     hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
     hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
-    void clean_history(std::deque<Gnss_Synchro>& data);
+    void clean_history(unsigned int pos);
     double compute_T_rx_s(const Gnss_Synchro& a);
-    bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
+    bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
+    std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti);
     void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
     int save_matfile();
 
     //Tracking observable history
-    std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
+    Gnss_circular_deque<Gnss_Synchro>* d_gnss_synchro_history;
     boost::dynamic_bitset<> valid_channels;
     double T_rx_s;
     double T_rx_step_s;
     double max_delta;
+    double d_latency;
     bool d_dump;
     unsigned int d_nchannels;
     unsigned int d_num_valid_channels;