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This commit is contained in:
Javier Arribas 2021-10-20 09:47:33 +02:00
parent 29f59256be 835e799770
commit c9d6688f1b
352 changed files with 8356 additions and 4170 deletions
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10
.github/workflows/main.yml vendored
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@ -26,7 +26,7 @@ jobs:
steps:
- uses: actions/checkout@v1
- name: install dependencies
run: brew update && brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog gnuradio log4cpp pugixml protobuf && pip3 install mako
run: brew update && brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog gnuradio log4cpp openssl pugixml protobuf && pip3 install mako
- name: configure
run: cd build && cmake -GNinja ..
- name: build
@ -54,11 +54,11 @@ jobs:
steps:
- uses: actions/checkout@v1
- name: install dependencies
run: brew update && brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp pugixml protobuf && ln -s /usr/local/opt/llvm/bin/clang-tidy /usr/local/bin && ln -s /usr/local/Cellar/llvm/12.*/bin/clang-apply-replacements /usr/local/bin && cp /usr/local/Cellar/llvm/12.*/share/clang/run-clang-tidy.py /usr/local/bin && pip3 install mako
run: brew update && brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp openssl pugixml protobuf && ln -s $(brew --prefix llvm)/bin/clang-tidy /usr/local/bin && ln -s $(brew --prefix llvm)/bin/clang-apply-replacements /usr/local/bin && ln -s $(brew --prefix llvm)/bin/run-clang-tidy /usr/local/bin && pip3 install mako
- name: Prepare run
run: cd build && cmake .. && make volk_gnsssdr_module gtest-1.11.0 core_monitor pvt_libs
run: cd build && cmake .. && make volk_gnsssdr_module gtest-1.11.0 core_monitor core_libs pvt_libs
- name: run clang-tidy
run: cd build && run-clang-tidy.py -fix
run: cd build && run-clang-tidy -fix
- name: check
run: git diff > clang_tidy.patch && echo -e "if \n [ -s clang_tidy.patch ] \nthen \n echo "clang_tidy not applied:"; echo ""; more clang_tidy.patch; exit 1 \nfi \n" > detect && chmod +x ./detect && ./detect
@ -70,7 +70,7 @@ jobs:
- name: install dependencies
run: sudo apt-get install python3-pip && sudo pip3 install cpplint
- name: run checks
run: find ./src/ -iname *.h -o -iname *.cc | xargs cpplint --filter=-,+build/class,+build/c++14,+build/deprecated,+build/explicit_make_pair,+build/printf_format,+build/storage_class,+readability/constructors,+readability/namespace,+readability/newline,+readability/utf8,+runtime/casting,+runtime/explicit,+runtime/indentation_namespace,+runtime/init,+runtime/invalid_increment,+runtime/member_string_references,+runtime/memset,+runtime/operator,+runtime/printf,+runtime/printf_format,+whitespace/blank_line,+whitespace/comma,+whitespace/comments,+whitespace/empty_conditional_body,+whitespace/end-of-line,+whitespace/ending-newline,+whitespace/semicolon,+whitespace/tab
run: find ./src/ -iname *.h -o -iname *.cc | xargs cpplint --filter=-,+build/class,+build/c++14,+build/deprecated,+build/explicit_make_pair,+build/include_what_you_use,+build/printf_format,+build/storage_class,+readability/constructors,+readability/namespace,+readability/newline,+readability/utf8,+runtime/casting,+runtime/explicit,+runtime/indentation_namespace,+runtime/init,+runtime/invalid_increment,+runtime/member_string_references,+runtime/memset,+runtime/operator,+runtime/printf,+runtime/printf_format,+whitespace/blank_line,+whitespace/comma,+whitespace/comments,+whitespace/empty_conditional_body,+whitespace/end-of-line,+whitespace/ending-newline,+whitespace/semicolon,+whitespace/tab --exclude=./src/core/interfaces/gnss_block_interface.h --exclude=./src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cpu_features/test/hwcaps_for_testing.* --exclude=./src/utils/nav-listener/build/nav_message.pb.h
prettier-markdown:

1
.gitignore vendored
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@ -8,6 +8,7 @@ docs/latex
docs/GNSS-SDR_manual.pdf
src/tests/data/output.dat
thirdparty/
src/utils/nav-listener/build
.settings
.project
.cproject

10
CMakeLists.txt
View File

@ -158,9 +158,9 @@ endif()
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_API_COMPAT 0)
if(${THIS_IS_A_RELEASE})
set(VERSION_INFO_MINOR_VERSION 14)
set(VERSION_INFO_MINOR_VERSION 15)
else()
set(VERSION_INFO_MINOR_VERSION 14.git-${GIT_BRANCH}-${GIT_COMMIT_HASH})
set(VERSION_INFO_MINOR_VERSION 15.git-${GIT_BRANCH}-${GIT_COMMIT_HASH})
endif()
set(VERSION ${VERSION_INFO_MAJOR_VERSION}.${VERSION_INFO_API_COMPAT}.${VERSION_INFO_MINOR_VERSION})
@ -323,7 +323,7 @@ set(GNSSSDR_PROTOBUF_MIN_VERSION "3.0.0")
################################################################################
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
set(GNSSSDR_GLOG_LOCAL_VERSION "0.5.0")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "10.6.x")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "10.7.x")
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0) OR
(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0))
set(GNSSSDR_GTEST_LOCAL_VERSION "1.10.x")
@ -334,8 +334,8 @@ set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "8.0.0")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.21")
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.11.4")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.17.3")
set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.5.5")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.18.0")
set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.5.6")
set(GNSSSDR_MATHJAX_EXTERNAL_VERSION "2.7.7")
if(CMAKE_VERSION VERSION_LESS "3.3")

6
README.md
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@ -470,9 +470,9 @@ $ sudo apt-get install autoconf automake libtool curl make g++ unzip
and then:
```
$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.17.3/protobuf-cpp-3.17.3.tar.gz
$ tar xvfz protobuf-cpp-3.17.3.tar.gz
$ cd protobuf-3.17.3
$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.18.0/protobuf-cpp-3.18.0.tar.gz
$ tar xvfz protobuf-cpp-3.18.0.tar.gz
$ cd protobuf-3.18.0
$ ./autogen.sh
$ ./configure
$ make

2
cmake/Modules/DetectMacOSVersion.cmake
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@ -15,7 +15,7 @@ if(${DARWIN_VERSION} VERSION_GREATER "19")
string(REGEX REPLACE ".$" "" macOS_NAME ${macOS_NAME})
execute_process(COMMAND sw_vers -productVersion OUTPUT_VARIABLE macOS_VERSION)
string(REGEX REPLACE "\n$" "" macOS_VERSION ${macOS_VERSION})
set(MACOS_DISTRIBUTION "macOS ${macOS_NAME} ${macOS_VERSION}")
set(MACOS_DISTRIBUTION "macOS ${macOS_NAME} ${macOS_VERSION} (${CMAKE_SYSTEM_PROCESSOR})")
endif()
endif()

11
cmake/Modules/FindGNSSSIMULATOR.cmake
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@ -1,7 +1,7 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2011-2020 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-FileCopyrightText: 2011-2021 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
if(GNSSSIMULATOR_ROOT)
@ -27,8 +27,17 @@ find_program(SW_GENERATOR_BIN gnss_sim
/usr/local
/opt/local
PATH_SUFFIXES bin
ONLY_CMAKE_FIND_ROOT_PATH
)
if(SW_GENERATOR_BIN AND CMAKE_CROSSCOMPILING)
if(CMAKE_SYSROOT)
string(REGEX REPLACE "${CMAKE_SYSROOT}" "" SW_GENERATOR_BIN "${SW_GENERATOR_BIN}")
elseif(DEFINED ENV{OECORE_TARGET_SYSROOT})
string(REGEX REPLACE "$ENV{OECORE_TARGET_SYSROOT}" "" SW_GENERATOR_BIN "${SW_GENERATOR_BIN}")
endif()
endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GNSSSIMULATOR DEFAULT_MSG SW_GENERATOR_BIN)
mark_as_advanced(SW_GENERATOR_BIN)

45
cmake/Modules/FindGNUPLOT.cmake Normal file
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@ -0,0 +1,45 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2021 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
find_program(GNUPLOT_EXECUTABLE
NAMES
gnuplot
pgnuplot
PATHS
/usr/bin
/usr/local/bin
/opt/local/bin
ONLY_CMAKE_FIND_ROOT_PATH
)
if(NOT CMAKE_CROSSCOMPILING)
if(GNUPLOT_EXECUTABLE)
execute_process(COMMAND "${GNUPLOT_EXECUTABLE}" --version
OUTPUT_VARIABLE GNUPLOT_OUTPUT_VARIABLE
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE
)
string(REGEX REPLACE "^gnuplot ([0-9\\.]+)( patchlevel )?" "\\1." GNUPLOT_VERSION_STRING "${GNUPLOT_OUTPUT_VARIABLE}")
string(REGEX REPLACE "\\.$" "" GNUPLOT_VERSION_STRING "${GNUPLOT_VERSION_STRING}")
unset(GNUPLOT_OUTPUT_VARIABLE)
endif()
else()
if(GNUPLOT_EXECUTABLE)
if(CMAKE_SYSROOT)
string(REGEX REPLACE "${CMAKE_SYSROOT}" "" GNUPLOT_EXECUTABLE "${GNUPLOT_EXECUTABLE}")
elseif(DEFINED ENV{OECORE_TARGET_SYSROOT})
string(REGEX REPLACE "$ENV{OECORE_TARGET_SYSROOT}" "" GNUPLOT_EXECUTABLE "${GNUPLOT_EXECUTABLE}")
endif()
else()
message(STATUS "Warning: Gnuplot is not found, you can install it later.")
message(STATUS " Setting default path to /usr/bin/gnuplot")
set(GNUPLOT_EXECUTABLE "/usr/bin/gnuplot")
endif()
endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GNUPLOT DEFAULT_MSG GNUPLOT_EXECUTABLE)

2
conf/gnss-sdr_GLONASS_L2_CA_GPS_L1_CA_ibyte.conf
View File

@ -1,4 +1,4 @@
GNSS-SDR.num_sources; This is a GNSS-SDR configuration file
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; SPDX-License-Identifier: GPL-3.0-or-later
; SPDX-FileCopyrightText: (C) 2010-2020 (see AUTHORS file for a list of contributors)

74
docs/CHANGELOG.md
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@ -16,17 +16,82 @@ All notable changes to GNSS-SDR will be documented in this file.
### Improvements in Availability:
- Improved Time-To-First-Fix when using GPS L1 C/A signals, fixing a bug that
was making the receiver to drop the satellite if the PLL got locked at 180
degrees, and making some optimizations on bit transition detection.
### Improvements in Interoperability:
- Fixed setting of the signal source gain if the AGC is enabled when using the
AD9361 front-end.
- Fixed the regeneration of Galileo ephemeris from the reduced clock and
ephemeris data (CED) defined in the Galileo E1B INAV message introduced in
Galileo OS SIS ICD Issue 2.0.
### Improvements in Maintainability:
- Rewritten Viterbi decoder for Galileo navigation messages: encapsulated in a
class instead of being implemented as free inline functions. This improves
memory management and source code readability.
- Updated GSL implementation to v0.39.0. See
https://github.com/gsl-lite/gsl-lite/releases/tag/v0.39.0
- CI - `cpplint` job on GitHub: Added the `build/include_what_you_use` filter
for early detection of missing includes.
- CI - `clang-tidy` job on GitHub: More robust detection of LLVM paths installed
by homebrew.
### Improvements in Reliability
- Fixed some potential buffer overflows.
### Improvements in Usability:
- Added a new monitor to extract the decoded data bits of the navigation
messages and send them elsewhere via UDP. Activated by setting
`NavDataMonitor.enable_monitor=true`,
`NavDataMonitor.client_addresses=127.0.0.1` and `NavDataMonitor.port=1237` in
the configuration file. Format described in the `nav_message.proto` file. A
simple listener application written in C++ is included in
`src/utils/nav-listener` as an example.
- Extract successful rate of the CRC check in the decoding of navigation
messages. This can be enabled by setting
`TelemetryDecoder_XX.dump_crc_stats=true` and, optionally,
`TelemetryDecoder_XX.dump_crc_stats_filename=./crc_stats` in the configuration
file. At the end of the processing (or exiting with `q` + `[Enter]`), the CRC
check success rate will be reported in a file.
- The `UHD_Signal_Source` learned to dump data in folders that do not exist,
_e.g._, if `SignalSource.dump=true`,
`SignalSource.dump_filename=./non-existing/data.dat`, and the `non-existing`
folder does not exist, it will be created if the running user has writing
permissions. This also works for absolute paths.
- Added a new configuration parameter `PVT.rtk_trace_level` that sets the
logging verbosity level of the RTKLIB library.
- Added a new output parameter `Flag_PLL_180_deg_phase_locked` in the monitor
output that indicates if the PLL got locked at 180 degrees, so the symbol sign
is reversed.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/
 
## [GNSS-SDR v0.0.15](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.15) - 2021-08-23
### Improvements in Availability:
- Added the reading of reduced clock and ephemeris data (CED) in the Galileo E1B
INAV message introduced in Galileo OS SIS ICD Issue 2.0. If the reduced CED is
available before the full ephemeris set, it is used for PVT computation until
the full set has not yet been received. This can contribute to shortening the
Time-To-First-Fix.
Time-To-First-Fix. Still experimental.
- Added the exploitation of the FEC2 Erasure Correction in the Galileo E1B INAV
message introduced in Galileo OS SIS ICD Issue 2.0. This can contribute to
shortening the Time-To-First-Fix. Since the added computational cost could
break some real-time configurations, this feature is disabled by default. It
can be activated from the configuration file by adding
`TelemetryDecoder_1B.enable_reed_solomon=true`.
- Reduction of the TTFF in GPS L1 and Galileo E1 by improving the frame
synchronization mechanism.
### Improvements in Maintainability:
@ -37,7 +102,7 @@ All notable changes to GNSS-SDR will be documented in this file.
a manifestation that contributors have the right to submit their work under
the open source license indicated in the contributed file(s) (instead of
asking them to sign the CLA document).
- Improved handling of change in GNU Radio 3.9 FFT API.
- Improved handling of changes in GNU Radio 3.9 FFT API.
- Improved handling of the filesystem library.
- Added an abstract class `SignalSourceInterface` and a common base class
`SignalSourceBase`, which allow removing a lot of duplicated code in Signal
@ -74,9 +139,14 @@ All notable changes to GNSS-SDR will be documented in this file.
- Added support for Apple M1 AArch64 architecture processor and for FreeBSD on
x86, improved AMD microarchitecture detection.
- CMake now selects the C++23 standard if the environment allows for it.
- Improved detection of Gnuplot and `gnss_sim` when cross-compiling.
- NEON kernel implementations of the `volk_gnsssdr` library are now enabled in
aarch64 architectures.
### Improvements in Reliability
- Bug fix in the Galileo E1/E5 telemetry decoder that produced incorrect timing
information if a satellite is lost and then readquired.
- Check satellites' health status. If a satellite is marked as not healthy in
its navigation message, the corresponding observables are not used for
navigation.

2
docs/manpage/gnss-sdr-manpage
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@ -2,7 +2,7 @@
.\" SPDX-License-Identifier: GPL-3.0-or-later
.\" SPDX-FileCopyrightText: Carles Fernandez-Prades <carles.fernandez(at)cttc.es>
.\" Contact carles.fernandez@cttc.es to correct errors or typos.
.TH gnss\-sdr 1 "29 Jul 2020" "0.0.14" "gnss\-sdr man page"
.TH gnss\-sdr 1 "23 Aug 2021" "0.0.15" "gnss\-sdr man page"
.SH NAME
\fBgnss\-sdr\fR \- GNSS Software Defined Receiver.
.SH SYNOPSIS

1
docs/protobuf/gnss_synchro.proto
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@ -36,6 +36,7 @@ message GnssSynchro {
double rx_time = 23; // Receiving time after the start of the week, in s
bool flag_valid_pseudorange = 24; // Pseudorange computation status
double interp_tow_ms = 25; // Interpolated time of week, in ms
bool flag_PLL_180_deg_phase_locked = 26; // PLL lock at 180º
}
/* Observables represents a collection of GnssSynchro annotations */

17
docs/protobuf/nav_message.proto Normal file
View File

@ -0,0 +1,17 @@
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: 2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
syntax = "proto3";
package gnss_sdr;
message navMsg {
string system = 1; // GNSS constellation: "G" for GPS, "R" for Glonass, "E" for Galileo, and "C" for Beidou.
string signal = 2; // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5, "5X" for Galileo E5a, and "E6" for Galileo E6B.
int32 prn = 3; // SV ID.
int32 tow_at_current_symbol_ms = 4; // Time of week of the last symbol received, in ms
string nav_message = 5; // for Galileo I/NAV: decoded half page (even or odd), 120 bits, as described in OS SIS ICD 2.0, paragraph 4.3.2.3. I/NAV Page Part.
// for Galileo F/NAV: decoded word, 244 bits, as described in OS SIS ICD 2.0, paragraph 4.2.2. F/NAV Page Layout.
// for Galileo HAS: decoded full HAS message (header + body), variable length, as described in Galileo HAS SIS ICD.
// For GPS LNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 20.3.2 Message Structure.
// For GPS CNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 30.3.3 Message Content.
}

87
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -16,17 +16,18 @@
#include "rtklib_pvt.h"
#include "MATH_CONSTANTS.h" // for D2R
#include "configuration_interface.h" // for ConfigurationInterface
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for operator<<
#include "MATH_CONSTANTS.h" // for D2R
#include "configuration_interface.h" // for ConfigurationInterface
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
#include "gnss_sdr_string_literals.h" // for std::string_literals
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for std::cout
#if USE_OLD_BOOST_MATH_COMMON_FACTOR
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
@ -35,6 +36,7 @@ namespace bc = boost::math;
namespace bc = boost::integer;
#endif
using namespace std::string_literals;
Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
const std::string& role,
@ -54,6 +56,8 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
pvt_output_parameters.rtk_trace_level = configuration->property(role + ".rtk_trace_level"s, 0);
// Flag to postprocess old gnss records (older than 2009) and avoid wrong week rollover
pvt_output_parameters.pre_2009_file = configuration->property("GNSS-SDR.pre_2009_file", false);
@ -118,10 +122,35 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// Advanced Nativation Protocol Printer settings
pvt_output_parameters.an_output_enabled = configuration->property(role + ".an_output_enabled", pvt_output_parameters.an_output_enabled);
pvt_output_parameters.an_dump_devname = configuration->property(role + ".an_dump_devname", default_nmea_dump_devname);
if (pvt_output_parameters.an_output_enabled && pvt_output_parameters.flag_nmea_tty_port)
{
if (pvt_output_parameters.nmea_dump_devname == pvt_output_parameters.an_dump_devname)
{
std::cerr << "Warning: NMEA an Advanced Nativation printers set to write to the same serial port.\n"
<< "Please make sure that PVT.an_dump_devname and PVT.an_dump_devname are different.\n"
<< "Shutting down the NMEA serial output.\n";
pvt_output_parameters.flag_nmea_tty_port = false;
}
}
if (pvt_output_parameters.an_output_enabled && pvt_output_parameters.flag_rtcm_tty_port)
{
if (pvt_output_parameters.rtcm_dump_devname == pvt_output_parameters.an_dump_devname)
{
std::cerr << "Warning: RTCM an Advanced Nativation printers set to write to the same serial port.\n"
<< "Please make sure that PVT.an_dump_devname and .rtcm_dump_devname are different.\n"
<< "Shutting down the RTCM serial output.\n";
pvt_output_parameters.flag_rtcm_tty_port = false;
}
}
pvt_output_parameters.kml_rate_ms = bc::lcm(configuration->property(role + ".kml_rate_ms", pvt_output_parameters.kml_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.an_rate_ms = bc::lcm(configuration->property(role + ".an_rate_ms", pvt_output_parameters.an_rate_ms), pvt_output_parameters.output_rate_ms);
// Infer the type of receiver
/*
@ -442,10 +471,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (positioning_mode == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode.\n";
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n";
std::cout << "positioning_mode specified value: " << positioning_mode_str << '\n';
std::cout << "Setting positioning_mode to Single\n";
std::cout << "WARNING: Bad specification of positioning mode.\n"
<< "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic\n"
<< "positioning_mode specified value: " << positioning_mode_str << "\n"
<< "Setting positioning_mode to Single\n"
<< std::flush;
positioning_mode = PMODE_SINGLE;
}
@ -529,10 +559,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (iono_model == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model.\n";
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n";
std::cout << "iono_model specified value: " << iono_model_str << '\n';
std::cout << "Setting iono_model to OFF\n";
std::cout << "WARNING: Bad specification of ionospheric model.\n"
<< "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX\n"
<< "iono_model specified value: " << iono_model_str << "\n"
<< "Setting iono_model to OFF\n"
<< std::flush;
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
}
@ -562,10 +593,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (trop_model == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model.\n";
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n";
std::cout << "trop_model specified value: " << trop_model_str << '\n';
std::cout << "Setting trop_model to OFF\n";
std::cout << "WARNING: Bad specification of tropospheric model.\n"
<< "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad\n"
<< "trop_model specified value: " << trop_model_str << "\n"
<< "Setting trop_model to OFF\n"
<< std::flush;
trop_model = TROPOPT_OFF;
}
@ -640,10 +672,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
if (integer_ambiguity_resolution_gps == -1)
{
// warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n";
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n";
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << '\n';
std::cout << "Setting AR_GPS to OFF\n";
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method.\n"
<< "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR\n"
<< "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << "\n"
<< "Setting AR_GPS to OFF\n"
<< std::flush;
integer_ambiguity_resolution_gps = ARMODE_OFF;
}

125
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -44,6 +44,131 @@ class Gps_Ephemeris;
/*!
* \brief This class implements a PvtInterface for the RTKLIB PVT block
*
* Global configuration options used:
*
* GNSS-SDR.pre_2009_file - flag indicating a file older than 2009 rollover should be processed (false)
* GNSS-SDR.observable_interval_ms - (20)
*
* It supports the following configuration options:
*
* .dump - (false)
* .dump_filename - ("./pvt.dat")
* .dump_mat - (true)
* .rtk_trace_level - debug level for the RTKLIB methods (0)
*
* .output_rate_ms - (500)
* Note that the actual rate is the least common multiple of this value and GNSS-SDR.observable_interval_ms
* .display_rate_ms - (500)
*
* .flag_nmea_tty_port - (false)
* .nmea_dump_filename - ("./nmea_pvt.nmea")
* .nmea_dump_devname - ("/dev/tty1")
*
* .rinex_version - (3) overridden by -RINEX_version=n.nn command line argument
* .rinexobs_rate_ms - rate at which RINEX observations are written (1000). Note that
* the actual rate is the least common multiple of this value and
* .output_rate_ms
* .rinex_name - (-RINEX_name command-line argument)
*
* .flag_rtcm_tty_port - (false)
* .rtcm_dump_devname - ("/dev/pts/1")
* .flag_rtcm_server - (false)
* .rtcm_tcp_port - (2101)
* .rtcm_station_id - (1234)
* Output rates ... all values are LCM with the computed output rate (above)
* .rtcm_MT1019_rate_ms - (5000)
* .rtcm_MT1020_rate_ms - (5000)
* .rtcm_MT1045_rate_ms - (5000)
* .rtcm_MSM_rate_ms - (1000)
* .rtcm_MT1077_rate_ms - (.rtcm_MSM_rate_ms)
* .rtcm_MT1087_rate_ms - (.rtcm_MSM_rate_ms)
* .rtcm_MT1097_rate_ms - (.rtcm_MSM_rate_ms)
*
* .kml_rate_ms - (1000)
* .gpx_rate_ms - (1000)
* .geojson_rate_ms - (1000)
* .nmea_rate_ms - (1000)
*
* .positioning_mode - The RTKLIB positioning mode. ("Single") Supported values are "Single",
* "Static", "Kinematic", "PPP_Static" and "PPP_Kinematic". Unsupported modes
* include DGPS/DGNSS, Moving Baseline, Fixed, and PPP-fixed
* .num_bands - number of frequencies to use, between 1 and 3. Default is based on the channels configured
* .elevation_mask - (15.0). Value must be in the range [0,90.0]
* .dynamics_model - (0) 0:none, 1:velocity, 2:acceleration
* .iono_model - ("OFF"). Supported values are "OFF", "Broadcast", "SBAS", "Iono-Free-LC",
* "Estimate_STEC", "IONEX". Unsupported values include QZSS broadcast, QZSS
* LEX, and SLANT TEC.
* .trop_model - ("OFF"). Supported values are "OFF", "Saastamoinen", "SBAS", "Estimate_ZTD", and
* "Estimate_ZTD_Grad". Unsupported values include ZTD correction and ZTD+grad
* correction
* .phwindup - phase windup correction for PPP modes (0)
* .reject_GPS_IIA - whether the GPS Block IIA satellites in eclipse are excluded (0). Only applies in PPP-* modes
* .raim_fde - whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) is enabled (0)
* .earth_tide - (0)
* .navigation_system - mask of navigation systems to use. Default based on configured channels
* 0x01:GPS, 0x02:SBAS, 0x04:GLONASS, 0x08:Galileo, 0x10:QZSS, 0x20:BeiDou,
* 0x40:IRNS, 0x80:LEO
*
* .AR_GPS - Ambiguity Resolution mode for GPS ("Continuous"). Supported values are "OFF",
* "Continuous", "Instantaneous", "Fix-and-Hold", "PPP-AR". Unsupported values
* include PPP-AR ILS, WLNL, and TCAR.
* .AR_GLO - Ambiguity Resolution mode for GLONASS (1). Value must be in the range [0,3]. (0:off,1:on,2:auto cal,3:ext cal)
* .AR_DBS - Ambiguity Resolution Mode for BeiDou (1). Value must be in the range [0,1]. (0:off,1:on)
* .min_ratio_to_fix_ambiguity - (3.0)
* .min_lock_to_fix_ambiguity - (0)
* .min_elevation_to_fix_ambiguity - minimum elevation (deg) to fix integer ambiguity (0.0)
* .outage_reset_ambiguity - (5)
* .slip_threshold - (0.05)
* .threshold_reject_gdop - if GDOP is over this value, the observable is excluded (30.0)
* .threshold_reject_innovation - if innovation is over this value, the observable is excluded (30.0)
* .number_filter_iter - number of iterations for the estimation filter (1)
* .bias_0 - (30.0)
* .iono_0 - (0.03)
* .trop_0 - (0.3)
* .sigma_bias - process noise stddev of carrier-phase bias(ambiguity)(cycle/sqrt(s)) (1e-4)
* .sigma_iono - process noise stddev of vertical ionospheric delay per 10km baseline (m/sqrt(s)) (1e-3)
* .sigma_trop - process noise stddev of zenith tropospheric delay (m/sqrt(s)) (1e-4)
* .sigma_acch - process noise stddev of the receiver acceleration horizontal component (m/s2/sqrt(s)) (1e-1)
* .sigma_accv - process noise stddev of the receiver acceleration vertical component (m/s2/sqrt(s)) (1e-2)
* .sigma_pos - (0.0)
* .code_phase_error_ratio_l1 - (100.0)
* .code_phase_error_ratio_l2 - (100.0)
* .code_phase_error_ratio_l5 - (100.0)
* .carrier_phase_error_factor_a - (0.003)
* .carrier_phase_error_factor_b - (0.003)
*
* .output_enabled - (true)
* .rinex_output_enabled - (.output_enabled)
* .gpx_output_enabled - (.output_enabled)
* .geojson_output_enabled - (.output_enabled)
* .kml_output_enabled - (.output_enabled)
* .xml_output_enabled - (.output_enabled)
* .nmea_output_enabled - (.output_enabled)
* .rtcm_output_enabled - (false)
* .output_path - directory to which output files are written (".")
* .rinex_output_path - (.output_path)
* .gpx_output_path - (.output_path)
* .geojson_output_path - (.output_path)
* .kml_output_path - (.output_path)
* .xml_output_path - (.output_path)
* .nmea_output_path - (.output_path)
* .rtcm_output_path - (.output_path)
*
* .enable_monitor - enable the PVT monitor (false)
* .monitor_client_addresses - ("127.0.0.1")
* .monitor_udp_port - DO NOT USE THE DEFAULT (1234)
* .enable_protobuf - serialize using protocol buffers (true). Monitor.enable_protobuf if true, sets this to true
*
* .enable_monitor_ephemeris - enable the ephemeris monitor (false)
* .monitor_ephemeris_client_addresses - ("127.0.0.1")
* .monitor_ephemeris_udp_port - DO NOT USE THE DEFAULT (1234)
*
* .show_local_time_zone - (false)
* .enable_rx_clock_correction - (false)
* .max_clock_offset_ms - (40)
*/
class Rtklib_Pvt : public PvtInterface
{

239
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -16,6 +16,7 @@
#include "rtklib_pvt_gs.h"
#include "MATH_CONSTANTS.h"
#include "an_packet_printer.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
@ -44,6 +45,7 @@
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "gpx_printer.h"
#include "has_simple_printer.h"
#include "kml_printer.h"
#include "monitor_ephemeris_udp_sink.h"
#include "monitor_pvt.h"
@ -52,6 +54,7 @@
#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_solver.h"
#include "trackingcmd.h"
#include <boost/any.hpp> // for any_cast, any
@ -105,9 +108,60 @@ rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk) : gr::sync_block("rtklib_pvt_gs",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
const rtk_t& rtk)
: gr::sync_block("rtklib_pvt_gs",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0)),
d_dump_filename(conf_.dump_filename),
d_gps_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Ephemeris>).hash_code()),
d_gps_iono_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Iono>).hash_code()),
d_gps_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Utc_Model>).hash_code()),
d_gps_cnav_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Gps_CNAV_Ephemeris>).hash_code()),
d_gps_cnav_iono_sptr_type_hash_code(typeid(std::shared_ptr<Gps_CNAV_Iono>).hash_code()),
d_gps_cnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Gps_CNAV_Utc_Model>).hash_code()),
d_gps_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Almanac>).hash_code()),
d_galileo_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Ephemeris>).hash_code()),
d_galileo_iono_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Iono>).hash_code()),
d_galileo_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Utc_Model>).hash_code()),
d_galileo_almanac_helper_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Almanac_Helper>).hash_code()),
d_galileo_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Almanac>).hash_code()),
d_glonass_gnav_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>).hash_code()),
d_glonass_gnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>).hash_code()),
d_glonass_gnav_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Glonass_Gnav_Almanac>).hash_code()),
d_beidou_dnav_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>).hash_code()),
d_beidou_dnav_iono_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Iono>).hash_code()),
d_beidou_dnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>).hash_code()),
d_beidou_dnav_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Almanac>).hash_code()),
d_galileo_has_data_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_HAS_data>).hash_code()),
d_rinex_version(conf_.rinex_version),
d_rx_time(0.0),
d_rinexobs_rate_ms(conf_.rinexobs_rate_ms),
d_kml_rate_ms(conf_.kml_rate_ms),
d_gpx_rate_ms(conf_.gpx_rate_ms),
d_geojson_rate_ms(conf_.geojson_rate_ms),
d_nmea_rate_ms(conf_.nmea_rate_ms),
d_an_rate_ms(conf_.an_rate_ms),
d_output_rate_ms(conf_.output_rate_ms),
d_display_rate_ms(conf_.display_rate_ms),
d_report_rate_ms(1000),
d_max_obs_block_rx_clock_offset_ms(conf_.max_obs_block_rx_clock_offset_ms),
d_nchannels(nchannels),
d_type_of_rx(conf_.type_of_receiver),
d_observable_interval_ms(conf_.observable_interval_ms),
d_dump(conf_.dump),
d_dump_mat(conf_.dump_mat && conf_.dump),
d_rinex_output_enabled(conf_.rinex_output_enabled),
d_geojson_output_enabled(conf_.geojson_output_enabled),
d_gpx_output_enabled(conf_.gpx_output_enabled),
d_kml_output_enabled(conf_.kml_output_enabled),
d_nmea_output_file_enabled(conf_.nmea_output_file_enabled || conf_.flag_nmea_tty_port),
d_xml_storage(conf_.xml_output_enabled),
d_flag_monitor_pvt_enabled(conf_.monitor_enabled),
d_flag_monitor_ephemeris_enabled(conf_.monitor_ephemeris_enabled),
d_show_local_time_zone(conf_.show_local_time_zone),
d_waiting_obs_block_rx_clock_offset_correction_msg(false),
d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
d_an_printer_enabled(conf_.an_output_enabled)
{
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
@ -116,31 +170,37 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// Send PVT status to gnss_flowgraph
this->message_port_register_out(pmt::mp("status"));
d_mapStringValues["1C"] = evGPS_1C;
d_mapStringValues["2S"] = evGPS_2S;
d_mapStringValues["L5"] = evGPS_L5;
d_mapStringValues["1B"] = evGAL_1B;
d_mapStringValues["5X"] = evGAL_5X;
d_mapStringValues["E6"] = evGAL_E6;
d_mapStringValues["7X"] = evGAL_7X;
d_mapStringValues["1G"] = evGLO_1G;
d_mapStringValues["2G"] = evGLO_2G;
d_mapStringValues["B1"] = evBDS_B1;
d_mapStringValues["B2"] = evBDS_B2;
d_mapStringValues["B3"] = evBDS_B3;
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_telemetry(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, boost::placeholders::_1));
#else
boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, _1));
#endif
#endif
// Galileo E6 HAS messages port in
this->message_port_register_in(pmt::mp("E6_HAS_to_PVT"));
this->set_msg_handler(pmt::mp("E6_HAS_to_PVT"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_has_data(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, boost::placeholders::_1));
#else
boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, _1));
#endif
#endif
d_initial_carrier_phase_offset_estimation_rads = std::vector<double>(nchannels, 0.0);
d_channel_initialized = std::vector<bool>(nchannels, false);
d_max_obs_block_rx_clock_offset_ms = conf_.max_obs_block_rx_clock_offset_ms;
d_output_rate_ms = conf_.output_rate_ms;
d_display_rate_ms = conf_.display_rate_ms;
d_report_rate_ms = 1000; // report every second PVT to gnss_synchro
d_dump = conf_.dump;
d_dump_mat = conf_.dump_mat && d_dump;
d_dump_filename = conf_.dump_filename;
std::string dump_ls_pvt_filename = conf_.dump_filename;
if (d_dump)
{
std::string dump_path;
@ -174,41 +234,8 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
}
}
d_nchannels = nchannels;
d_type_of_rx = conf_.type_of_receiver;
d_observable_interval_ms = conf_.observable_interval_ms;
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_telemetry(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, boost::placeholders::_1));
#else
boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, _1));
#endif
#endif
// Galileo E6 HAS messages port in
this->message_port_register_in(pmt::mp("E6_HAS_to_PVT"));
this->set_msg_handler(pmt::mp("E6_HAS_to_PVT"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_has_data(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, boost::placeholders::_1));
#else
boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, _1));
#endif
#endif
// initialize kml_printer
const std::string kml_dump_filename = d_dump_filename;
d_kml_output_enabled = conf_.kml_output_enabled;
d_kml_rate_ms = conf_.kml_rate_ms;
if (d_kml_rate_ms == 0)
{
d_kml_output_enabled = false;
@ -225,8 +252,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// initialize gpx_printer
const std::string gpx_dump_filename = d_dump_filename;
d_gpx_output_enabled = conf_.gpx_output_enabled;
d_gpx_rate_ms = conf_.gpx_rate_ms;
if (d_gpx_rate_ms == 0)
{
d_gpx_output_enabled = false;
@ -243,8 +268,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// initialize geojson_printer
const std::string geojson_dump_filename = d_dump_filename;
d_geojson_output_enabled = conf_.geojson_output_enabled;
d_geojson_rate_ms = conf_.geojson_rate_ms;
if (d_geojson_rate_ms == 0)
{
d_geojson_output_enabled = false;
@ -260,8 +283,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
}
// initialize nmea_printer
d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled || conf_.flag_nmea_tty_port);
d_nmea_rate_ms = conf_.nmea_rate_ms;
if (d_nmea_rate_ms == 0)
{
d_nmea_output_file_enabled = false;
@ -348,8 +369,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
}
// initialize RINEX printer
d_rinex_output_enabled = conf_.rinex_output_enabled;
d_rinex_version = conf_.rinex_version;
if (d_rinex_output_enabled)
{
d_rp = std::make_unique<Rinex_Printer>(d_rinex_version, conf_.rinex_output_path, conf_.rinex_name);
@ -359,10 +378,8 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{
d_rp = nullptr;
}
d_rinexobs_rate_ms = conf_.rinexobs_rate_ms;
// XML printer
d_xml_storage = conf_.xml_output_enabled;
if (d_xml_storage)
{
d_xml_base_path = conf_.xml_output_path;
@ -398,11 +415,28 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_xml_base_path = d_xml_base_path + fs::path::preferred_separator;
}
d_rx_time = 0.0;
d_last_status_print_seg = 0;
// Initialize HAS simple printer
d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 107)) && (conf_.output_enabled));
if (d_enable_has_messages)
{
d_has_simple_printer = std::make_unique<Has_Simple_Printer>();
}
else
{
d_has_simple_printer = nullptr;
}
// Initialize AN printer
if (d_an_printer_enabled)
{
d_an_printer = std::make_unique<An_Packet_Printer>(conf_.an_dump_devname);
}
else
{
d_an_printer = nullptr;
}
// PVT MONITOR
d_flag_monitor_pvt_enabled = conf_.monitor_enabled;
if (d_flag_monitor_pvt_enabled)
{
std::string address_string = conf_.udp_addresses;
@ -418,7 +452,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
}
// EPHEMERIS MONITOR
d_flag_monitor_ephemeris_enabled = conf_.monitor_ephemeris_enabled;
if (d_flag_monitor_ephemeris_enabled)
{
std::string address_string = conf_.udp_eph_addresses;
@ -444,7 +477,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
}
// Display time in local time zone
d_show_local_time_zone = conf_.show_local_time_zone;
std::ostringstream os;
#ifdef HAS_PUT_TIME
time_t when = std::time(nullptr);
@ -480,55 +512,45 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
}
d_waiting_obs_block_rx_clock_offset_correction_msg = false;
d_enable_rx_clock_correction = conf_.enable_rx_clock_correction;
if (d_enable_rx_clock_correction == true)
{
// setup two PVT solvers: internal solver for rx clock and user solver
// user PVT solver
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat);
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_dump, d_dump_mat);
d_user_pvt_solver->set_averaging_depth(1);
d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
// internal PVT solver, mainly used to estimate the receiver clock
rtk_t internal_rtk = rtk;
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, static_cast<int32_t>(nchannels), dump_ls_pvt_filename, false, false);
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, false, false);
d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
}
else
{
// only one solver, customized by the user options
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat);
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_dump, d_dump_mat);
d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
d_user_pvt_solver = d_internal_pvt_solver;
}
d_gps_ephemeris_sptr_type_hash_code = typeid(std::shared_ptr<Gps_Ephemeris>).hash_code();
d_gps_iono_sptr_type_hash_code = typeid(std::shared_ptr<Gps_Iono>).hash_code();
d_gps_utc_model_sptr_type_hash_code = typeid(std::shared_ptr<Gps_Utc_Model>).hash_code();
d_gps_cnav_ephemeris_sptr_type_hash_code = typeid(std::shared_ptr<Gps_CNAV_Ephemeris>).hash_code();
d_gps_cnav_iono_sptr_type_hash_code = typeid(std::shared_ptr<Gps_CNAV_Iono>).hash_code();
d_gps_cnav_utc_model_sptr_type_hash_code = typeid(std::shared_ptr<Gps_CNAV_Utc_Model>).hash_code();
d_gps_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Gps_Almanac>).hash_code();
d_galileo_ephemeris_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_Ephemeris>).hash_code();
d_galileo_iono_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_Iono>).hash_code();
d_galileo_utc_model_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_Utc_Model>).hash_code();
d_galileo_almanac_helper_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_Almanac_Helper>).hash_code();
d_galileo_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_Almanac>).hash_code();
d_galileo_has_message_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_HAS_data>).hash_code();
d_glonass_gnav_ephemeris_sptr_type_hash_code = typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>).hash_code();
d_glonass_gnav_utc_model_sptr_type_hash_code = typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>).hash_code();
d_glonass_gnav_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Glonass_Gnav_Almanac>).hash_code();
d_beidou_dnav_ephemeris_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>).hash_code();
d_beidou_dnav_iono_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Iono>).hash_code();
d_beidou_dnav_utc_model_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>).hash_code();
d_beidou_dnav_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Almanac>).hash_code();
d_galileo_has_data_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_HAS_data>).hash_code();
d_mapStringValues["1C"] = evGPS_1C;
d_mapStringValues["2S"] = evGPS_2S;
d_mapStringValues["L5"] = evGPS_L5;
d_mapStringValues["1B"] = evGAL_1B;
d_mapStringValues["5X"] = evGAL_5X;
d_mapStringValues["E6"] = evGAL_E6;
d_mapStringValues["7X"] = evGAL_7X;
d_mapStringValues["1G"] = evGLO_1G;
d_mapStringValues["2G"] = evGLO_2G;
d_mapStringValues["B1"] = evBDS_B1;
d_mapStringValues["B2"] = evBDS_B2;
d_mapStringValues["B3"] = evBDS_B3;
// set the RTKLIB trace (debug) level
tracelevel(conf_.rtk_trace_level);
//timetag
d_log_timetag = conf_.log_source_timetag;
@ -1366,10 +1388,6 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
d_user_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
}
}
else if (msg_type_hash_code == d_galileo_has_message_sptr_type_hash_code)
{
// Store HAS message and print its content
}
// **************** GLONASS GNAV Telemetry *************************
else if (msg_type_hash_code == d_glonass_gnav_ephemeris_sptr_type_hash_code)
@ -1531,9 +1549,11 @@ void rtklib_pvt_gs::msg_handler_has_data(const pmt::pmt_t& msg) const
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == d_galileo_has_data_sptr_type_hash_code)
{
const auto has_data = boost::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
// TODO: Dump HAS message
// std::cout << "HAS data received at PVT block.\n";
if (d_enable_has_messages)
{
const auto has_data = boost::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
d_has_simple_printer->print_message(has_data.get());
}
}
}
catch (const boost::bad_any_cast& e)
@ -2322,6 +2342,13 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_write_RTCM_1045_output,
d_enable_rx_clock_correction);
}
if (d_an_printer_enabled)
{
if (current_RX_time_ms % d_an_rate_ms == 0)
{
d_an_printer->print_packet(d_user_pvt_solver.get(), d_gnss_observables_map);
}
}
}
}

9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
View File

@ -59,6 +59,8 @@ class Nmea_Printer;
class Pvt_Conf;
class Rinex_Printer;
class Rtcm_Printer;
class An_Packet_Printer;
class Has_Simple_Printer;
class Rtklib_Solver;
class rtklib_pvt_gs;
@ -179,6 +181,8 @@ private:
std::unique_ptr<Rtcm_Printer> d_rtcm_printer;
std::unique_ptr<Monitor_Pvt_Udp_Sink> d_udp_sink_ptr;
std::unique_ptr<Monitor_Ephemeris_Udp_Sink> d_eph_udp_sink_ptr;
std::unique_ptr<Has_Simple_Printer> d_has_simple_printer;
std::unique_ptr<An_Packet_Printer> d_an_printer;
std::chrono::time_point<std::chrono::system_clock> d_start;
std::chrono::time_point<std::chrono::system_clock> d_end;
@ -227,7 +231,6 @@ private:
size_t d_galileo_utc_model_sptr_type_hash_code;
size_t d_galileo_almanac_helper_sptr_type_hash_code;
size_t d_galileo_almanac_sptr_type_hash_code;
size_t d_galileo_has_message_sptr_type_hash_code;
size_t d_glonass_gnav_ephemeris_sptr_type_hash_code;
size_t d_glonass_gnav_utc_model_sptr_type_hash_code;
size_t d_glonass_gnav_almanac_sptr_type_hash_code;
@ -255,7 +258,7 @@ private:
int32_t d_gpx_rate_ms;
int32_t d_geojson_rate_ms;
int32_t d_nmea_rate_ms;
int32_t d_last_status_print_seg; // for status printer
int32_t d_an_rate_ms;
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;
int32_t d_report_rate_ms;
@ -280,6 +283,8 @@ private:
bool d_show_local_time_zone;
bool d_waiting_obs_block_rx_clock_offset_correction_msg;
bool d_enable_rx_clock_correction;
bool d_enable_has_messages;
bool d_an_printer_enabled;
};

5
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -9,7 +9,7 @@ protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/
protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/galileo_ephemeris.proto)
set(PVT_LIB_SOURCES
pvt_conf.cc
an_packet_printer.cc
pvt_solution.cc
geojson_printer.cc
gpx_printer.cc
@ -21,9 +21,11 @@ set(PVT_LIB_SOURCES
rtklib_solver.cc
monitor_pvt_udp_sink.cc
monitor_ephemeris_udp_sink.cc
has_simple_printer.cc
)
set(PVT_LIB_HEADERS
an_packet_printer.h
pvt_conf.h
pvt_solution.h
geojson_printer.h
@ -40,6 +42,7 @@ set(PVT_LIB_HEADERS
serdes_galileo_eph.h
serdes_gps_eph.h
monitor_ephemeris_udp_sink.h
has_simple_printer.h
)
list(SORT PVT_LIB_HEADERS)

355
src/algorithms/PVT/libs/an_packet_printer.cc Normal file
View File

@ -0,0 +1,355 @@
/*!
* \file an_packet_printer.cc
* \brief Implementation of a class that prints PVT solutions in a serial device
* following a custom version of the Advanced Navigation Packet Protocol
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
* \author Miguel Angel Gomez Lopez, 2021. gomezlma(at)inta.es
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "an_packet_printer.h"
#include "rtklib_solver.h" // for Rtklib_Solver
#include <glog/logging.h> // for DLOG
#include <cmath> // for M_PI
#include <cstring> // for memcpy
#include <fcntl.h> // for fcntl
#include <iostream> // for std::cerr
#include <limits> // std::numeric_limits
#include <termios.h> // values for termios
#include <unistd.h> // for write(), read(), close()
An_Packet_Printer::An_Packet_Printer(const std::string& an_dump_devname) : d_an_devname(an_dump_devname),
d_an_dev_descriptor(init_serial(d_an_devname))
{
if (d_an_dev_descriptor != -1)
{
DLOG(INFO) << "AN Printer writing on " << d_an_devname;
}
}
An_Packet_Printer::~An_Packet_Printer()
{
try
{
close_serial();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
}
bool An_Packet_Printer::print_packet(const Rtklib_Solver* const pvt_data, const std::map<int, Gnss_Synchro>& gnss_observables_map)
{
an_packet_t an_packet{};
sdr_gnss_packet_t sdr_gnss_packet{};
update_sdr_gnss_packet(&sdr_gnss_packet, pvt_data, gnss_observables_map);
encode_sdr_gnss_packet(&sdr_gnss_packet, &an_packet);
if (d_an_dev_descriptor != -1)
{
if (write(d_an_dev_descriptor, &an_packet, sizeof(an_packet)) == -1)
{
LOG(ERROR) << "Advanced Navigation printer cannot write on serial device " << d_an_devname;
return false;
}
}
return true;
}
void An_Packet_Printer::close_serial() const
{
if (d_an_dev_descriptor != -1)
{
close(d_an_dev_descriptor);
}
}
/*
* @brief update_sdr_gnss_packet
* @param sdr_gnss_packet_t* Pointer to a structure that contains
* the output information.
* @param NavData_t* pointer to input packet with all the information
* @reval None
*/
void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const Rtklib_Solver* const pvt, const std::map<int, Gnss_Synchro>& gnss_observables_map) const
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
uint8_t num_gps_sats = 0;
uint8_t num_gal_sats = 0;
uint32_t microseconds = 0;
int index = 0;
const int max_reported_sats = *(&_packet->sats + 1) - _packet->sats;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter)
{
if (gnss_observables_iter->second.Flag_valid_pseudorange)
{
switch (gnss_observables_iter->second.System)
{
case 'G':
num_gps_sats++;
if (index < max_reported_sats)
{
_packet->sats[index].prn = static_cast<uint8_t>(gnss_observables_iter->second.PRN);
_packet->sats[index].snr = static_cast<uint8_t>(gnss_observables_iter->second.CN0_dB_hz);
int16_t doppler = 0;
double Carrier_Doppler_hz = gnss_observables_iter->second.Carrier_Doppler_hz;
if (Carrier_Doppler_hz > static_cast<double>(std::numeric_limits<int16_t>::max()))
{
doppler = std::numeric_limits<int16_t>::max();
}
else if (Carrier_Doppler_hz < static_cast<double>(std::numeric_limits<int16_t>::min()))
{
doppler = std::numeric_limits<int16_t>::min();
}
else
{
doppler = static_cast<int16_t>(Carrier_Doppler_hz);
}
_packet->sats[index].doppler = doppler;
microseconds = static_cast<uint32_t>(static_cast<double>(gnss_observables_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_observables_iter->second.fs)) * 1e6;
index++;
}
break;
case 'E':
num_gal_sats++;
if (index < max_reported_sats)
{
_packet->sats[index].prn = static_cast<uint8_t>(gnss_observables_iter->second.PRN) + 100;
_packet->sats[index].snr = static_cast<uint8_t>(gnss_observables_iter->second.CN0_dB_hz);
int16_t doppler = 0;
double Carrier_Doppler_hz = gnss_observables_iter->second.Carrier_Doppler_hz;
if (Carrier_Doppler_hz > static_cast<double>(std::numeric_limits<int16_t>::max()))
{
doppler = std::numeric_limits<int16_t>::max();
}
else if (Carrier_Doppler_hz < static_cast<double>(std::numeric_limits<int16_t>::min()))
{
doppler = std::numeric_limits<int16_t>::min();
}
else
{
doppler = static_cast<int16_t>(Carrier_Doppler_hz);
}
_packet->sats[index].doppler = doppler;
microseconds = static_cast<uint32_t>(static_cast<double>(gnss_observables_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_observables_iter->second.fs)) * 1e6;
index++;
}
break;
default:
break;
}
}
}
_packet->nsvfix = static_cast<uint8_t>(pvt->get_num_valid_observations());
_packet->gps_satellites = num_gps_sats;
_packet->galileo_satellites = num_gal_sats;
_packet->microseconds = microseconds;
_packet->latitude = static_cast<double>(pvt->get_latitude()) * (M_PI / 180.0);
_packet->longitude = static_cast<double>(pvt->get_longitude()) * (M_PI / 180.0);
_packet->height = static_cast<double>(pvt->get_height());
_packet->velocity[0] = static_cast<float>(pvt->get_rx_vel()[1]);
_packet->velocity[1] = static_cast<float>(pvt->get_rx_vel()[0]);
_packet->velocity[2] = static_cast<float>(-pvt->get_rx_vel()[2]);
uint16_t status = 0;
// Set 3D fix (bit 0 and 1) / Set Doppler velocity valid (bit 2) / Set Time valid (bit 3)
status = status & 0b00001111;
_packet->status = status;
}
/*
* @brief encode_sdr_gnss_packet
* @param sdr_gnss_packet_t* Pointer to a structure that contains the data.
* @param an_packet_t* pointer to output packet
* @reval None
*/
void An_Packet_Printer::encode_sdr_gnss_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const
{
_packet->id = SDR_GNSS_PACKET_ID;
_packet->length = SDR_GNSS_PACKET_LENGTH;
uint8_t offset = 0;
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->nsvfix), offset, _packet->data, sizeof(sdr_gnss_packet->nsvfix));
offset += sizeof(sdr_gnss_packet->nsvfix);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->gps_satellites), offset, _packet->data, sizeof(sdr_gnss_packet->gps_satellites));
offset += sizeof(sdr_gnss_packet->gps_satellites);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->galileo_satellites), offset, _packet->data, sizeof(sdr_gnss_packet->galileo_satellites));
offset += sizeof(sdr_gnss_packet->galileo_satellites);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->microseconds), offset, _packet->data, sizeof(sdr_gnss_packet->microseconds));
offset += sizeof(sdr_gnss_packet->microseconds);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->latitude), offset, _packet->data, sizeof(sdr_gnss_packet->latitude));
offset += sizeof(sdr_gnss_packet->latitude);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->longitude), offset, _packet->data, sizeof(sdr_gnss_packet->longitude));
offset += sizeof(sdr_gnss_packet->longitude);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->height), offset, _packet->data, sizeof(sdr_gnss_packet->height));
offset += sizeof(sdr_gnss_packet->height);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->velocity[0]), offset, _packet->data, sizeof(sdr_gnss_packet->velocity[0]));
offset += sizeof(sdr_gnss_packet->velocity[0]);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->velocity[1]), offset, _packet->data, sizeof(sdr_gnss_packet->velocity[1]));
offset += sizeof(sdr_gnss_packet->velocity[1]);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->velocity[2]), offset, _packet->data, sizeof(sdr_gnss_packet->velocity[2]));
offset += sizeof(sdr_gnss_packet->velocity[2]);
for (auto& sat : sdr_gnss_packet->sats)
{
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sat.prn), offset, _packet->data, sizeof(sat.prn));
offset += sizeof(sat.prn);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sat.snr), offset, _packet->data, sizeof(sat.snr));
offset += sizeof(sat.snr);
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sat.doppler), offset, _packet->data, sizeof(sat.doppler));
offset += sizeof(sat.doppler);
}
offset = static_cast<uint8_t>(SDR_GNSS_PACKET_LENGTH - sizeof(sdr_gnss_packet->status));
LSB_bytes_to_array(reinterpret_cast<uint8_t*>(&sdr_gnss_packet->status), offset, _packet->data, sizeof(sdr_gnss_packet->status));
an_packet_encode(_packet);
}
/*
* Function to encode an an_packet
*/
void An_Packet_Printer::an_packet_encode(an_packet_t* an_packet) const
{
uint16_t crc;
an_packet->header[1] = an_packet->id;
an_packet->header[2] = an_packet->length;
crc = calculate_crc16(an_packet->data, an_packet->length);
memcpy(&an_packet->header[3], &crc, sizeof(uint16_t));
an_packet->header[0] = calculate_header_lrc(&an_packet->header[1]);
}
/*
* Function to calculate a 4 byte LRC
*/
uint8_t An_Packet_Printer::calculate_header_lrc(const uint8_t* data) const
{
return ((data[0] + data[1] + data[2] + data[3]) ^ 0xFF) + 1;
}
void An_Packet_Printer::LSB_bytes_to_array(void* _in, int offset, uint8_t* _out, uint8_t var_size) const
{
switch (var_size)
{
case 1:
{
auto* tmp = reinterpret_cast<uint8_t*>(_in);
for (int i = 0; i < var_size; i++)
{
_out[offset + i] = (*tmp >> 8 * i) & 0xFF;
}
break;
}
case 2:
{
auto* tmp = reinterpret_cast<uint16_t*>(_in);
for (int i = 0; i < var_size; i++)
{
_out[offset + i] = (*tmp >> 8 * i) & 0xFF;
}
break;
}
case 4:
{
auto* tmp = reinterpret_cast<uint32_t*>(_in);
for (int i = 0; i < var_size; i++)
{
_out[offset + i] = (*tmp >> 8 * i) & 0xFF;
}
break;
}
case 8:
{
auto* tmp = reinterpret_cast<uint64_t*>(_in);
for (int i = 0; i < var_size; i++)
{
_out[offset + i] = (*tmp >> 8 * i) & 0xFF;
}
break;
}
default:
break;
}
}
/*
* Function to calculate the CRC16 of data
* CRC16-CCITT
* Initial value = 0xFFFF
* Polynomial = x^16 + x^12 + x^5 + x^0
*/
uint16_t An_Packet_Printer::calculate_crc16(const void* data, uint16_t length) const
{
const auto* bytes = reinterpret_cast<const uint8_t*>(data);
uint16_t crc = 0xFFFF;
for (uint16_t i = 0; i < length; i++)
{
crc = static_cast<uint16_t>((crc << 8) ^ d_crc16_table[(crc >> 8) ^ bytes[i]]);
}
return crc;
}
/*
* Opens the serial device and sets the default baud rate for a transmission (115200,8,N,1)
*/
int An_Packet_Printer::init_serial(const std::string& serial_device)
{
int fd = 0;
// clang-format off
struct termios options{};
// clang-format on
const int64_t BAUD = B115200;
const int64_t DATABITS = CS8;
const int64_t STOPBITS = 0;
const int64_t PARITYON = 0;
const int64_t PARITY = 0;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
if (fd == -1)
{
return fd; // failed to open TTY port
}
if (fcntl(fd, F_SETFL, 0) == -1)
{
LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
}
tcgetattr(fd, &options); // read serial port options
options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
// enable receiver, set 8 bit data, ignore control lines
// options.c_cflag |= (CLOCAL | CREAD | CS8);
options.c_iflag = IGNPAR;
// set the new port options
tcsetattr(fd, TCSANOW, &options);
return fd;
}

130
src/algorithms/PVT/libs/an_packet_printer.h Normal file
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/*!
* \file an_packet_printer.h
* \brief Interface of a class that prints PVT solutions in a serial device
* following a custom version of the Advanced Navigation Packet Protocol
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
* \author Miguel Angel Gomez Lopez, 2021. gomezlma(at)inta.es
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_AN_PACKET_PRINTER_H
#define GNSS_SDR_AN_PACKET_PRINTER_H
#include "gnss_synchro.h"
#include <array>
#include <cstddef>
#include <cstdint>
#include <map>
#include <string>
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs
* \{ */
class Rtklib_Solver;
struct sdr_gnss_packet_t
{
uint8_t nsvfix; // number of sats used in PVT fix
uint8_t gps_satellites; // number of tracked GPS satellites
uint8_t galileo_satellites; // number of tracked Galileo satellites
uint32_t microseconds; // from start of receiver operation
double latitude; // in [rad]
double longitude; // in [rad]
double height; // in [m]
float velocity[3]; // North, East, Down, in [m/s]
struct
{
uint8_t prn; // PRN ID. Galileo sats expressed as PRN + 100
uint8_t snr; // in [dB-Hz]
int16_t doppler; // in [Hz], saturates at +32767 / -32768 Hz
} sats[6];
uint32_t reserved;
uint16_t status;
};
struct an_packet_t
{
uint8_t id;
uint8_t length;
uint8_t header[5]; // AN_PACKET_HEADER_SIZE
uint8_t data[126]; // AN_MAXIMUM_PACKET_SIZE
};
/*!
* \brief class that prints PVT solutions in a serial device following a custom
* version of the Advanced Navigation Packet Protocol.
*/
class An_Packet_Printer
{
public:
/*!
* \brief Default constructor.
*/
explicit An_Packet_Printer(const std::string& an_dump_devname);
/*!
* \brief Default destructor.
*/
~An_Packet_Printer();
/*!
* \brief Print AN packet to the initialized device.
*/
bool print_packet(const Rtklib_Solver* const pvt_data, const std::map<int, Gnss_Synchro>& gnss_observables_map);
/*!
* \brief Close serial port. Also done in the destructor, this is only
* for testing.
*/
void close_serial() const;
private:
const std::array<uint16_t, 256> d_crc16_table = {
{0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273,
0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528,
0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886,
0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf,
0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5,
0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2,
0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8,
0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691,
0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f,
0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64,
0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0}};
const size_t SDR_GNSS_PACKET_LENGTH = 73;
const uint8_t SDR_GNSS_PACKET_ID = 201;
int init_serial(const std::string& serial_device);
void update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const Rtklib_Solver* const pvt, const std::map<int, Gnss_Synchro>& gnss_observables_map) const;
void encode_gnss_cttc_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const;
uint16_t calculate_crc16(const void* data, uint16_t length) const;
uint8_t calculate_header_lrc(const uint8_t* data) const;
void an_packet_encode(an_packet_t* an_packet) const;
void encode_sdr_gnss_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const;
void LSB_bytes_to_array(void* _in, int offset, uint8_t* _out, uint8_t var_size) const;
std::string d_an_devname;
int d_an_dev_descriptor; // serial device descriptor (i.e. COM port)
};
/** \} */
/** \} */
#endif // GNSS_SDR_AN_PACKET_PRINTER_H

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src/algorithms/PVT/libs/geojson_printer.cc
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#include <sstream> // for stringstream
GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)
GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path) : geojson_base_path(base_path),
first_pos(true)
{
first_pos = true;
geojson_base_path = base_path;
fs::path full_path(fs::current_path());
const fs::path p(geojson_base_path);
if (!fs::exists(p))

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src/algorithms/PVT/libs/gpx_printer.cc
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#include <sstream> // for stringstream
Gpx_Printer::Gpx_Printer(const std::string& base_path)
Gpx_Printer::Gpx_Printer(const std::string& base_path) : indent(" "),
gpx_base_path(base_path),
positions_printed(false)
{
positions_printed = false;
indent = " ";
gpx_base_path = base_path;
fs::path full_path(fs::current_path());
const fs::path p(gpx_base_path);
if (!fs::exists(p))

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src/algorithms/PVT/libs/has_simple_printer.cc Normal file
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/*!
* \file has_simple_printer.cc
* \brief Implementation of a class that prints HAS messages content in a txt
* file.
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "has_simple_printer.h"
#include "Galileo_CNAV.h"
#include "galileo_has_data.h"
#include "gnss_sdr_filesystem.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <algorithm> // for std::find, std::count
#include <bitset> // for std::bitset
#include <cstdint> // for uint8_t, ...
#include <ctime> // for tm
#include <exception> // for std::exception
#include <iomanip> // for std::setw, std::setprecision
#include <ios> // for std::fixed
#include <iostream> // for std::cout, std::cerr
#include <sstream> // for std::stringstream
Has_Simple_Printer::Has_Simple_Printer(const std::string& base_path,
const std::string& filename,
bool time_tag_name) : d_has_base_path(base_path),
d_data_printed(false)
{
fs::path full_path(fs::current_path());
const fs::path p(d_has_base_path);
if (!fs::exists(p))
{
std::string new_folder;
for (const auto& folder : fs::path(d_has_base_path))
{
new_folder += folder.string();
errorlib::error_code ec;
if (!fs::exists(new_folder))
{
if (!fs::create_directory(new_folder, ec))
{
std::cerr << "Could not create the " << new_folder << " folder.\n";
d_has_base_path = full_path.string();
}
}
new_folder += fs::path::preferred_separator;
}
}
else
{
d_has_base_path = p.string();
}
if (d_has_base_path != ".")
{
std::cout << "HAS Message file will be stored at " << d_has_base_path << '\n';
}
d_has_base_path = d_has_base_path + fs::path::preferred_separator;
const boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
const tm timeinfo = boost::posix_time::to_tm(pt);
if (time_tag_name)
{
std::stringstream strm0;
const int year = timeinfo.tm_year - 100;
strm0 << year;
const int month = timeinfo.tm_mon + 1;
if (month < 10)
{
strm0 << "0";
}
strm0 << month;
const int day = timeinfo.tm_mday;
if (day < 10)
{
strm0 << "0";
}
strm0 << day << "_";
const int hour = timeinfo.tm_hour;
if (hour < 10)
{
strm0 << "0";
}
strm0 << hour;
const int min = timeinfo.tm_min;
if (min < 10)
{
strm0 << "0";
}
strm0 << min;
const int sec = timeinfo.tm_sec;
if (sec < 10)
{
strm0 << "0";
}
strm0 << sec;
d_has_filename = filename + "_" + strm0.str() + ".txt";
}
else
{
d_has_filename = filename + ".txt";
}
d_has_filename = d_has_base_path + d_has_filename;
d_has_file.open(d_has_filename.c_str());
}
Has_Simple_Printer::~Has_Simple_Printer()
{
DLOG(INFO) << "HAS Message printer destructor called.";
try
{
close_file();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
if (!d_data_printed)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_has_filename), ec))
{
LOG(INFO) << "Error deleting temporary HAS Message file.";
}
}
}
bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
{
std::lock_guard<std::mutex> guard(d_mutex);
d_data_printed = true;
std::string indent = " ";
if (d_has_file.is_open())
{
d_has_file << "HAS Message Type 1 Received.\n";
d_has_file << "----------------------------\n";
d_has_file << "HAS mode: ";
switch (has_data->has_status)
{
case 0:
d_has_file << "Test\n";
break;
case 1:
d_has_file << "Operational\n";
break;
case 2:
d_has_file << "Reserved\n";
break;
case 3:
d_has_file << "Do not use HAS\n";
break;
default:
d_has_file << "Unknown\n";
}
d_has_file << "HAS message ID: " << static_cast<float>(has_data->message_id) << "\n\n";
d_has_file << indent << "MT1 Header\n";
d_has_file << indent << "----------\n";
d_has_file << indent << indent << "TOH [s]: " << static_cast<float>(has_data->header.toh) << '\n';
d_has_file << indent << indent << "Mask flag: " << static_cast<float>(has_data->header.mask_flag) << '\n';
d_has_file << indent << indent << "Orbit Corr. Flag: " << static_cast<float>(has_data->header.orbit_correction_flag) << '\n';
d_has_file << indent << indent << "Clock Full-set Flag: " << static_cast<float>(has_data->header.clock_fullset_flag) << '\n';
d_has_file << indent << indent << "Clock Subset Flag: " << static_cast<float>(has_data->header.clock_subset_flag) << '\n';
d_has_file << indent << indent << "Code Bias Flag: " << static_cast<float>(has_data->header.code_bias_flag) << '\n';
d_has_file << indent << indent << "Phase Bias Flag: " << static_cast<float>(has_data->header.phase_bias_flag) << '\n';
d_has_file << indent << indent << "Mask ID: " << static_cast<float>(has_data->header.mask_id) << '\n';
d_has_file << indent << indent << "IOD Set ID: " << static_cast<float>(has_data->header.iod_id) << "\n\n";
d_has_file << indent << "MT1 Body\n";
d_has_file << indent << "--------\n";
d_has_file << indent << indent << "Mask Block\n";
d_has_file << indent << indent << "----------\n";
d_has_file << indent << indent << "Nsys: " << static_cast<float>(has_data->Nsys) << '\n';
d_has_file << indent << indent << "GNSS ID: " << print_vector(has_data->gnss_id_mask) << " (0: GPS, 2: Galileo)\n";
int Nsat = has_data->get_nsat();
d_has_file << indent << indent << "Satellite Mask: " << print_vector_binary(has_data->satellite_mask, HAS_MSG_SATELLITE_MASK_LENGTH) << '\n';
d_has_file << indent << indent << " Nsat: " << Nsat << '\n';
std::vector<std::string> system_strings = has_data->get_systems_string();
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
d_has_file << indent << indent << " PRN for " << system_strings[i] << ": " << print_vector(has_data->get_PRNs_in_mask(i)) << " (" << has_data->get_PRNs_in_mask(i).size() << " satellites)\n";
}
d_has_file << indent << indent << "Signal Mask: " << print_vector_binary(has_data->signal_mask, HAS_MSG_SIGNAL_MASK_LENGTH) << '\n';
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
d_has_file << indent << indent << " Bias corrections for " << system_strings[i] << " signals: " << print_vector_string(has_data->get_signals_in_mask(i)) << '\n';
}
d_has_file << indent << indent << "Cell Mask Availability Flag: " << print_vector(has_data->cell_mask_availability_flag) << '\n';
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
if (has_data->cell_mask_availability_flag[i] == true)
{
std::string text;
if (has_data->gnss_id_mask[i] == 0)
{
text = "Cell Mask for GPS: ";
}
else if (has_data->gnss_id_mask[i] == 2)
{
text = "Cell Mask for Galileo: ";
}
else
{
text = "Cell Mask for Reserved: ";
}
d_has_file << indent << indent << text;
const std::string filler(indent.length() * 2 + text.length(), ' ');
d_has_file << print_matrix(has_data->cell_mask[i], filler);
}
}
d_has_file << indent << indent << "Nav message: " << print_vector(has_data->nav_message) << " (0: GPS LNAV or Galileo I/NAV)\n";
if (has_data->header.orbit_correction_flag == true)
{
d_has_file << '\n';
d_has_file << indent << indent << "Orbit Corrections Block\n";
d_has_file << indent << indent << "-----------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_orbit_corrections) << '\n';
d_has_file << indent << indent << "GNSS IOD: " << print_vector(has_data->gnss_iod) << '\n';
d_has_file << indent << indent << "Delta Radial [m]: " << print_vector(has_data->delta_radial, HAS_MSG_DELTA_RADIAL_SCALE_FACTOR) << '\n';
d_has_file << indent << indent << "Delta Along Track [m]: " << print_vector(has_data->delta_along_track, HAS_MSG_DELTA_ALONG_TRACK_SCALE_FACTOR) << '\n';
d_has_file << indent << indent << "Delta Cross Track [m]: " << print_vector(has_data->delta_cross_track, HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR) << '\n';
}
if (has_data->header.clock_fullset_flag == true)
{
d_has_file << '\n';
d_has_file << indent << indent << "Clock Full-set Corrections Block\n";
d_has_file << indent << indent << "--------------------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_fullset_corrections) << '\n';
d_has_file << indent << indent << "Delta Clock C0 Multiplier: " << print_vector(has_data->delta_clock_c0_multiplier) << '\n';
d_has_file << indent << indent << "Delta Clock C0 [m]: " << print_vector(has_data->delta_clock_c0, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR) << '\n';
}
if (has_data->header.clock_subset_flag == true)
{
d_has_file << '\n';
d_has_file << indent << indent << "Clock Subset Corrections Block\n";
d_has_file << indent << indent << "------------------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_subset_corrections) << '\n';
d_has_file << indent << indent << "Nsysprime: " << static_cast<float>(has_data->Nsysprime) << '\n';
d_has_file << indent << indent << "GNSS ID: " << print_vector(has_data->gnss_id_clock_subset) << '\n';
d_has_file << indent << indent << "Delta Clock C0 Multiplier: " << print_vector(has_data->delta_clock_c0_multiplier_clock_subset) << '\n';
d_has_file << indent << indent << "Satellite sub-mask: ";
int Nsatprime = 0;
for (uint8_t k = 0; k < has_data->Nsysprime; k++)
{
auto it = std::find(has_data->gnss_id_mask.begin(), has_data->gnss_id_mask.end(), has_data->gnss_id_clock_subset[k]);
if (it != has_data->gnss_id_mask.end())
{
int index = it - has_data->gnss_id_mask.begin();
std::string sat_mask = print_vector_binary(std::vector<uint64_t>(1, has_data->satellite_mask[index]), HAS_MSG_SATELLITE_MASK_LENGTH);
int number_sats_satellite_mask = std::count(sat_mask.begin(), sat_mask.end(), '1');
uint64_t mask_value = has_data->satellite_submask[index];
// convert value into string
std::string binary("");
uint64_t mask = 1;
for (int i = 0; i < number_sats_satellite_mask - 1; i++)
{
if ((mask & mask_value) >= 1)
{
binary.insert(0, "1");
}
else
{
binary.insert(0, "0");
}
mask <<= 1;
}
d_has_file << binary << " ";
Nsatprime += std::count(binary.begin(), binary.end(), '1');
}
}
d_has_file << '\n';
d_has_file << " Nsat in subset = " << Nsatprime << '\n';
const std::string text("Delta Clock C0 [m]: ");
const std::string filler(indent.length() * 2 + text.length(), ' ');
d_has_file << indent << indent << text << print_matrix(has_data->delta_clock_c0_clock_subset, filler, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
}
if (has_data->header.code_bias_flag == true)
{
d_has_file << '\n';
d_has_file << indent << indent << "Code Bias Block\n";
d_has_file << indent << indent << "---------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_code_bias_corrections) << '\n';
const std::string text("Code bias [m]: ");
const std::string filler(indent.length() * 2 + text.length(), ' ');
d_has_file << indent << indent << text << print_matrix(has_data->code_bias, filler, HAS_MSG_CODE_BIAS_SCALE_FACTOR);
}
if (has_data->header.phase_bias_flag == true)
{
d_has_file << '\n';
d_has_file << indent << indent << "Phase Bias Block\n";
d_has_file << indent << indent << "----------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_phase_bias_corrections) << '\n';
const std::string text("Phase bias [cycles]: ");
const std::string filler(indent.length() * 2 + text.length(), ' ');
d_has_file << indent << indent << text << print_matrix(has_data->phase_bias, filler, HAS_MSG_PHASE_BIAS_SCALE_FACTOR);
d_has_file << indent << indent << "Phase discontinuity indicator: " << print_matrix(has_data->phase_discontinuity_indicator, filler);
}
d_has_file << "\n\n";
return true;
}
return false;
}
template <class T>
std::string Has_Simple_Printer::print_vector(const std::vector<T>& vec, float scale_factor) const
{
std::string msg;
std::stringstream ss;
for (auto el : vec)
{
if (scale_factor == 1)
{
ss << static_cast<float>(el) << " ";
}
else
{
ss << std::setw(9) << std::setprecision(4) << std::fixed << static_cast<float>(el) * scale_factor << " ";
}
}
msg += ss.str();
return msg;
}
template <class T>
std::string Has_Simple_Printer::print_vector_binary(const std::vector<T>& vec, size_t bit_length) const
{
std::string msg;
std::stringstream ss;
for (auto el : vec)
{
if (bit_length == HAS_MSG_SATELLITE_MASK_LENGTH)
{
std::bitset<HAS_MSG_SATELLITE_MASK_LENGTH> bits(el);
ss << bits.to_string() << " ";
}
if (bit_length == HAS_MSG_SIGNAL_MASK_LENGTH)
{
std::bitset<HAS_MSG_SIGNAL_MASK_LENGTH> bits(el);
ss << bits.to_string() << " ";
}
}
msg += ss.str();
return msg;
}
template <class T>
std::string Has_Simple_Printer::print_matrix(const std::vector<std::vector<T>>& mat, const std::string& filler, float scale_factor) const
{
std::string msg;
std::stringstream ss;
bool first_row = true;
if (!mat.empty())
{
for (size_t row = 0; row < mat.size(); row++)
{
if (first_row)
{
first_row = false;
}
else
{
ss << filler;
}
for (size_t col = 0; col < mat[0].size(); col++)
{
if (scale_factor == 1)
{
ss << static_cast<float>(mat[row][col]) << " ";
}
else
{
ss << std::setw(9) << std::setprecision(2) << std::fixed << static_cast<float>(mat[row][col]) * scale_factor << " ";
}
}
ss << '\n';
}
}
else
{
ss << '\n';
}
msg += ss.str();
return msg;
}
std::string Has_Simple_Printer::print_vector_string(const std::vector<std::string>& vec) const
{
std::string msg;
bool first = true;
for (const auto& el : vec)
{
if (first == true)
{
msg += el;
first = false;
}
else
{
msg += " " + el;
}
}
return msg;
}
bool Has_Simple_Printer::close_file()
{
if (d_has_file.is_open())
{
d_has_file.close();
return true;
}
return false;
}

67
src/algorithms/PVT/libs/has_simple_printer.h Normal file
View File

@ -0,0 +1,67 @@
/*!
* \file has_simple_printer.h
* \brief Interface of a class that prints HAS messages content in a txt file.
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_HAS_SIMPLE_PRINTER_H
#define GNSS_SDR_HAS_SIMPLE_PRINTER_H
#include <cstddef> // for size_t
#include <fstream> // for std::ofstream
#include <mutex> // for std::mutex
#include <string> // for std::string
#include <vector> // for std::vector
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs
* \{ */
class Galileo_HAS_data;
/*!
* \brief Prints HAS messages content in a txt file. See HAS-SIS-ICD for a
* message description.
*/
class Has_Simple_Printer
{
public:
explicit Has_Simple_Printer(const std::string& base_path = std::string("."), const std::string& filename = std::string("HAS_Messages"), bool time_tag_name = true);
~Has_Simple_Printer();
bool print_message(const Galileo_HAS_data* const has_data);
private:
template <class T>
std::string print_vector(const std::vector<T>& vec, float scale_factor = 1) const;
template <class T>
std::string print_vector_binary(const std::vector<T>& vec, size_t bit_length) const;
template <class T>
std::string print_matrix(const std::vector<std::vector<T>>& mat, const std::string& filler, float scale_factor = 1) const;
std::string print_vector_string(const std::vector<std::string>& vec) const;
bool close_file();
std::mutex d_mutex;
std::ofstream d_has_file;
std::string d_has_filename;
std::string d_has_base_path;
bool d_data_printed;
};
/** \} */
/** \} */
#endif // GNSS_SDR_HAS_SIMPLE_PRINTER_H

7
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -30,11 +30,10 @@
#include <sys/types.h> // for mode_t
Kml_Printer::Kml_Printer(const std::string& base_path)
Kml_Printer::Kml_Printer(const std::string& base_path) : kml_base_path(base_path),
indent(" "),
positions_printed(false)
{
positions_printed = false;
indent = " ";
kml_base_path = base_path;
fs::path full_path(fs::current_path());
const fs::path p(kml_base_path);
if (!fs::exists(p))

7
src/algorithms/PVT/libs/monitor_ephemeris_udp_sink.cc
View File

@ -21,15 +21,16 @@
#include <sstream>
Monitor_Ephemeris_Udp_Sink::Monitor_Ephemeris_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
Monitor_Ephemeris_Udp_Sink::Monitor_Ephemeris_Udp_Sink(const std::vector<std::string>& addresses,
const uint16_t& port,
bool protobuf_enabled) : socket{io_context},
use_protobuf(protobuf_enabled)
{
for (const auto& address : addresses)
{
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
endpoints.push_back(endpoint);
}
use_protobuf = protobuf_enabled;
if (use_protobuf)
{
serdes_gal = Serdes_Galileo_Eph();

6
src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
View File

@ -21,7 +21,10 @@
#include <sstream>
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses,
const uint16_t& port,
bool protobuf_enabled) : socket{io_context},
use_protobuf(protobuf_enabled)
{
for (const auto& address : addresses)
{
@ -29,7 +32,6 @@ Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addre
endpoints.push_back(endpoint);
}
use_protobuf = protobuf_enabled;
if (use_protobuf)
{
serdes = Serdes_Monitor_Pvt();

9
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -33,10 +33,13 @@
#include <utility>
Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
Nmea_Printer::Nmea_Printer(const std::string& filename,
bool flag_nmea_output_file,
bool flag_nmea_tty_port,
std::string nmea_dump_devname,
const std::string& base_path) : nmea_base_path(base_path),
d_flag_nmea_output_file(flag_nmea_output_file)
{
nmea_base_path = base_path;
d_flag_nmea_output_file = flag_nmea_output_file;
if (d_flag_nmea_output_file == true)
{
fs::path full_path(fs::current_path());

93
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -30,64 +30,65 @@
class Pvt_Conf
{
public:
Pvt_Conf();
std::map<int, int> rtcm_msg_rate_ms;
std::string rinex_name;
std::string rinex_name = std::string("-");
std::string dump_filename;
std::string nmea_dump_filename;
std::string nmea_dump_devname;
std::string rtcm_dump_devname;
std::string output_path;
std::string rinex_output_path;
std::string gpx_output_path;
std::string geojson_output_path;
std::string nmea_output_file_path;
std::string kml_output_path;
std::string xml_output_path;
std::string rtcm_output_file_path;
std::string an_dump_devname;
std::string output_path = std::string(".");
std::string rinex_output_path = std::string(".");
std::string gpx_output_path = std::string(".");
std::string geojson_output_path = std::string(".");
std::string nmea_output_file_path = std::string(".");
std::string kml_output_path = std::string(".");
std::string xml_output_path = std::string(".");
std::string rtcm_output_file_path = std::string(".");
std::string udp_addresses;
std::string udp_eph_addresses;
uint32_t type_of_receiver;
uint32_t observable_interval_ms;
uint32_t type_of_receiver = 0;
uint32_t observable_interval_ms = 20;
int32_t output_rate_ms;
int32_t display_rate_ms;
int32_t kml_rate_ms;
int32_t gpx_rate_ms;
int32_t geojson_rate_ms;
int32_t nmea_rate_ms;
int32_t rinex_version;
int32_t rinexobs_rate_ms;
int32_t max_obs_block_rx_clock_offset_ms;
int udp_port;
int udp_eph_port;
int32_t output_rate_ms = 0;
int32_t display_rate_ms = 0;
int32_t kml_rate_ms = 1000;
int32_t gpx_rate_ms = 1000;
int32_t geojson_rate_ms = 1000;
int32_t nmea_rate_ms = 1000;
int32_t rinex_version = 0;
int32_t rinexobs_rate_ms = 0;
int32_t an_rate_ms = 1000;
int32_t max_obs_block_rx_clock_offset_ms = 40;
int udp_port = 0;
int udp_eph_port = 0;
int rtk_trace_level = 0;
uint16_t rtcm_tcp_port;
uint16_t rtcm_station_id;
bool flag_nmea_tty_port;
bool flag_rtcm_server;
bool flag_rtcm_tty_port;
bool output_enabled;
bool rinex_output_enabled;
bool gpx_output_enabled;
bool geojson_output_enabled;
bool nmea_output_file_enabled;
bool kml_output_enabled;
bool xml_output_enabled;
bool rtcm_output_file_enabled;
bool monitor_enabled;
bool monitor_ephemeris_enabled;
bool protobuf_enabled;
bool enable_rx_clock_correction;
bool show_local_time_zone;
bool pre_2009_file;
bool dump;
bool dump_mat;
uint16_t rtcm_tcp_port = 0;
uint16_t rtcm_station_id = 0;
bool flag_nmea_tty_port = false;
bool flag_rtcm_server = false;
bool flag_rtcm_tty_port = false;
bool output_enabled = true;
bool rinex_output_enabled = true;
bool gpx_output_enabled = true;
bool geojson_output_enabled = true;
bool nmea_output_file_enabled = true;
bool an_output_enabled = false;
bool kml_output_enabled = true;
bool xml_output_enabled = true;
bool rtcm_output_file_enabled = true;
bool monitor_enabled = false;
bool monitor_ephemeris_enabled = false;
bool protobuf_enabled = true;
bool enable_rx_clock_correction = true;
bool show_local_time_zone = false;
bool pre_2009_file = false;
bool dump = false;
bool dump_mat = true;
bool log_source_timetag;
std::string log_source_timetag_file;
};

30
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -22,26 +22,6 @@
#include <cstddef>
Pvt_Solution::Pvt_Solution()
{
d_latitude_d = 0.0;
d_longitude_d = 0.0;
d_height_m = 0.0;
d_speed_over_ground_m_s = 0.0;
d_course_over_ground_d = 0.0;
d_avg_latitude_d = 0.0;
d_avg_longitude_d = 0.0;
d_avg_height_m = 0.0;
d_flag_averaging = false;
b_valid_position = false;
d_averaging_depth = 0;
d_valid_observations = 0;
d_rx_dt_s = 0.0;
d_rx_clock_drift_ppm = 0.0;
d_pre_2009_file = false; // disabled by default
}
int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
{
/* Conversion of Cartesian coordinates (X,Y,Z) to geographical
@ -130,7 +110,7 @@ void Pvt_Solution::perform_pos_averaging()
d_avg_latitude_d = d_avg_latitude_d / static_cast<double>(d_averaging_depth);
d_avg_longitude_d = d_avg_longitude_d / static_cast<double>(d_averaging_depth);
d_avg_height_m = d_avg_height_m / static_cast<double>(d_averaging_depth);
b_valid_position = true;
d_valid_position = true;
}
else
{
@ -143,12 +123,12 @@ void Pvt_Solution::perform_pos_averaging()
d_avg_latitude_d = d_latitude_d;
d_avg_longitude_d = d_longitude_d;
d_avg_height_m = d_height_m;
b_valid_position = false;
d_valid_position = false;
}
}
else
{
b_valid_position = true;
d_valid_position = true;
}
}
@ -245,13 +225,13 @@ bool Pvt_Solution::is_averaging() const
bool Pvt_Solution::is_valid_position() const
{
return b_valid_position;
return d_valid_position;
}
void Pvt_Solution::set_valid_position(bool is_valid)
{
b_valid_position = is_valid;
d_valid_position = is_valid;
}

32
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -35,7 +35,7 @@
class Pvt_Solution
{
public:
Pvt_Solution();
Pvt_Solution() = default;
virtual ~Pvt_Solution() = default;
void set_rx_pos(const std::array<double, 3> &pos); //!< Set position: X, Y, Z in Cartesian ECEF coordinates [m]
@ -102,24 +102,24 @@ private:
std::deque<double> d_hist_longitude_d;
std::deque<double> d_hist_height_m;
double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg]
double d_height_m; // RX position height WGS84 [m]
double d_rx_dt_s; // RX time offset [s]
double d_rx_clock_drift_ppm; // RX clock drift [ppm]
double d_speed_over_ground_m_s; // RX speed over ground [m/s]
double d_course_over_ground_d; // RX course over ground [deg]
double d_latitude_d{0.0}; // RX position Latitude WGS84 [deg]
double d_longitude_d{0.0}; // RX position Longitude WGS84 [deg]
double d_height_m{0.0}; // RX position height WGS84 [m]
double d_rx_dt_s{0.0}; // RX time offset [s]
double d_rx_clock_drift_ppm{0.0}; // RX clock drift [ppm]
double d_speed_over_ground_m_s{0.0}; // RX speed over ground [m/s]
double d_course_over_ground_d{0.0}; // RX course over ground [deg]
double d_avg_latitude_d; // Averaged latitude in degrees
double d_avg_longitude_d; // Averaged longitude in degrees
double d_avg_height_m; // Averaged height [m]
double d_avg_latitude_d{0.0}; // Averaged latitude in degrees
double d_avg_longitude_d{0.0}; // Averaged longitude in degrees
double d_avg_height_m{0.0}; // Averaged height [m]
int d_averaging_depth; // Length of averaging window
int d_valid_observations;
int d_averaging_depth{0}; // Length of averaging window
int d_valid_observations{0}; // Number of valid observations in this epoch
bool d_pre_2009_file; // Flag to correct week rollover in post processing mode for signals older than 2009
bool b_valid_position;
bool d_flag_averaging;
bool d_pre_2009_file{false}; // Flag to correct week rollover in post processing mode for signals older than 2009
bool d_valid_position{false};
bool d_flag_averaging{false};
};

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

@ -56,65 +56,15 @@
#include <vector>
Rinex_Printer::Rinex_Printer(int32_t conf_version, const std::string& base_path, const std::string& base_name)
Rinex_Printer::Rinex_Printer(int32_t conf_version,
const std::string& base_path,
const std::string& base_name) : d_fake_cnav_iode(1),
d_numberTypesObservations(4),
d_rinex_header_updated(false),
d_rinex_header_written(false),
d_pre_2009_file(false)
{
d_pre_2009_file = false;
d_rinex_header_updated = false;
d_rinex_header_written = false;
std::string base_rinex_path = base_path;
fs::path full_path(fs::current_path());
const fs::path p(base_rinex_path);
if (!fs::exists(p))
{
std::string new_folder;
for (const auto& folder : fs::path(base_rinex_path))
{
new_folder += folder.string();
errorlib::error_code ec;
if (!fs::exists(new_folder))
{
if (!fs::create_directory(new_folder, ec))
{
std::cout << "Could not create the " << new_folder << " folder.\n";
base_rinex_path = full_path.string();
}
}
new_folder += fs::path::preferred_separator;
}
}
else
{
base_rinex_path = p.string();
}
if (base_rinex_path != ".")
{
std::cout << "RINEX files will be stored at " << base_rinex_path << '\n';
}
navfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_GPS_NAV", base_name);
obsfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_OBS", base_name);
sbsfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_SBAS", base_name);
navGalfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_GAL_NAV", base_name);
navMixfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_MIXED_NAV", base_name);
navGlofilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_GLO_NAV", base_name);
navBdsfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_BDS_NAV", base_name);
Rinex_Printer::navFile.open(navfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::obsFile.open(obsfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::sbsFile.open(sbsfilename, std::ios::out | std::ios::app);
Rinex_Printer::navGalFile.open(navGalfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::navMixFile.open(navMixfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::navGloFile.open(navGlofilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::navBdsFile.open(navBdsfilename, std::ios::out | std::ios::in | std::ios::app);
if (!Rinex_Printer::navFile.is_open() or !Rinex_Printer::obsFile.is_open() or
!Rinex_Printer::sbsFile.is_open() or !Rinex_Printer::navGalFile.is_open() or
!Rinex_Printer::navMixFile.is_open() or !Rinex_Printer::navGloFile.is_open())
{
std::cout << "RINEX files cannot be saved. Wrong permissions?\n";
}
// RINEX v3.02 codes
satelliteSystem["GPS"] = "G";
satelliteSystem["GLONASS"] = "R";
@ -199,6 +149,59 @@ Rinex_Printer::Rinex_Printer(int32_t conf_version, const std::string& base_path,
observationCode["GPS_L1_CA_v2"] = "1";
observationCode["GLONASS_G1_CA_v2"] = "1";
std::string base_rinex_path = base_path;
fs::path full_path(fs::current_path());
const fs::path p(base_rinex_path);
if (!fs::exists(p))
{
std::string new_folder;
for (const auto& folder : fs::path(base_rinex_path))
{
new_folder += folder.string();
errorlib::error_code ec;
if (!fs::exists(new_folder))
{
if (!fs::create_directory(new_folder, ec))
{
std::cout << "Could not create the " << new_folder << " folder.\n";
base_rinex_path = full_path.string();
}
}
new_folder += fs::path::preferred_separator;
}
}
else
{
base_rinex_path = p.string();
}
if (base_rinex_path != ".")
{
std::cout << "RINEX files will be stored at " << base_rinex_path << '\n';
}
navfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_GPS_NAV", base_name);
obsfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_OBS", base_name);
sbsfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_SBAS", base_name);
navGalfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_GAL_NAV", base_name);
navMixfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_MIXED_NAV", base_name);
navGlofilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_GLO_NAV", base_name);
navBdsfilename = base_rinex_path + fs::path::preferred_separator + Rinex_Printer::createFilename("RINEX_FILE_TYPE_BDS_NAV", base_name);
Rinex_Printer::navFile.open(navfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::obsFile.open(obsfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::sbsFile.open(sbsfilename, std::ios::out | std::ios::app);
Rinex_Printer::navGalFile.open(navGalfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::navMixFile.open(navMixfilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::navGloFile.open(navGlofilename, std::ios::out | std::ios::in | std::ios::app);
Rinex_Printer::navBdsFile.open(navBdsfilename, std::ios::out | std::ios::in | std::ios::app);
if (!Rinex_Printer::navFile.is_open() or !Rinex_Printer::obsFile.is_open() or
!Rinex_Printer::sbsFile.is_open() or !Rinex_Printer::navGalFile.is_open() or
!Rinex_Printer::navMixFile.is_open() or !Rinex_Printer::navGloFile.is_open())
{
std::cout << "RINEX files cannot be saved. Wrong permissions?\n";
}
if (conf_version == 2)
{
d_version = 2;
@ -209,9 +212,6 @@ Rinex_Printer::Rinex_Printer(int32_t conf_version, const std::string& base_path,
d_version = 3;
d_stringVersion = "3.02";
}
d_numberTypesObservations = 4; // Number of available types of observable in the system
d_fake_cnav_iode = 1;
}

4
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -222,8 +222,8 @@ public:
}
/*!
* \brief Returns name of RINEX observation file
*/
* \brief Returns name of RINEX observation file
*/
inline std::string get_obsfilename() const
{
return obsfilename;

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

@ -35,15 +35,13 @@
#include <sstream> // for std::stringstream
Rtcm::Rtcm(uint16_t port)
Rtcm::Rtcm(uint16_t port) : RTCM_port(port), server_is_running(false)
{
RTCM_port = port;
preamble = std::bitset<8>("11010011");
reserved_field = std::bitset<6>("000000");
rtcm_message_queue = std::make_shared<Concurrent_Queue<std::string> >();
rtcm_message_queue = std::make_shared<Concurrent_Queue<std::string>>();
boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), RTCM_port);
servers.emplace_back(io_context, endpoint);
server_is_running = false;
}
@ -175,8 +173,7 @@ std::string Rtcm::bin_to_binary_data(const std::string& s) const
{
std::string s_aux;
const auto remainder = static_cast<int32_t>(std::fmod(s.length(), 8));
std::vector<uint8_t> c;
c.reserve(s.length());
std::vector<uint8_t> c(s.length());
uint32_t k = 0;
if (remainder != 0)
@ -628,8 +625,8 @@ std::string Rtcm::print_MT1003(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.cbegin();
@ -737,8 +734,8 @@ std::string Rtcm::print_MT1004(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.cbegin();
@ -1310,8 +1307,8 @@ std::string Rtcm::print_MT1011(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.begin();
@ -1421,8 +1418,8 @@ std::string Rtcm::print_MT1012(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.begin();
@ -2382,10 +2379,11 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchr
const uint32_t num_satellites = DF394.count();
const uint32_t numobs = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(numobs);
std::map<int32_t, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::vector<uint32_t> pos;
auto pos = std::vector<uint32_t>();
pos.reserve(numobs);
std::vector<uint32_t>::iterator it;
@ -2401,7 +2399,7 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchr
}
}
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
for (uint32_t nsat = 0; nsat < num_satellites; nsat++)
{
@ -2418,7 +2416,7 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Syn
std::string signal_data;
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2429,9 +2427,9 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Syn
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2527,7 +2525,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2538,9 +2536,9 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2642,7 +2640,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2653,9 +2651,9 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2754,10 +2752,10 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchr
const uint32_t num_satellites = DF394.count();
const uint32_t numobs = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(numobs);
std::map<int32_t, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::vector<uint32_t> pos;
auto pos = std::vector<uint32_t>();
pos.reserve(numobs);
std::vector<uint32_t>::iterator it;
@ -2773,7 +2771,7 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchr
}
}
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
for (uint32_t nsat = 0; nsat < num_satellites; nsat++)
{
@ -2803,7 +2801,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2814,9 +2812,9 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2919,10 +2917,10 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
const uint32_t num_satellites = DF394.count();
const uint32_t numobs = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(numobs);
std::map<int32_t, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::vector<uint32_t> pos;
auto pos = std::vector<uint32_t>();
pos.reserve(numobs);
std::vector<uint32_t>::iterator it;
@ -2938,7 +2936,7 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
}
}
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
for (uint32_t nsat = 0; nsat < num_satellites; nsat++)
{
@ -2973,7 +2971,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2984,9 +2982,9 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -3095,7 +3093,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -3106,9 +3104,9 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -3216,7 +3214,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -3227,9 +3225,9 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -3256,10 +3254,10 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
// Some utilities
// *****************************************************************************************************
std::vector<std::pair<int32_t, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const
std::vector<std::pair<int32_t, Gnss_Synchro>> Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const
{
std::vector<std::pair<int32_t, Gnss_Synchro> >::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro> > my_vec;
std::vector<std::pair<int32_t, Gnss_Synchro>>::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro>> my_vec;
struct
{
bool operator()(const std::pair<int32_t, Gnss_Synchro>& a, const std::pair<int32_t, Gnss_Synchro>& b)
@ -3285,10 +3283,10 @@ std::vector<std::pair<int32_t, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std:
}
std::vector<std::pair<int32_t, Gnss_Synchro> > Rtcm::sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const
std::vector<std::pair<int32_t, Gnss_Synchro>> Rtcm::sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const
{
std::vector<std::pair<int32_t, Gnss_Synchro> >::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro> > my_vec;
std::vector<std::pair<int32_t, Gnss_Synchro>>::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro>> my_vec;
struct
{
@ -5152,7 +5150,7 @@ std::string Rtcm::set_DF396(const std::map<int32_t, Gnss_Synchro>& observables)
std::string s("");
return s;
}
std::vector<std::vector<bool> > matrix(num_signals, std::vector<bool>());
std::vector<std::vector<bool>> matrix(num_signals, std::vector<bool>());
std::string sig;
std::vector<uint32_t> list_of_sats;

24
src/algorithms/PVT/libs/rtcm.h
View File

@ -191,12 +191,12 @@ public:
int32_t read_MT1019(const std::string& message, Gps_Ephemeris& gps_eph) const;
/*!
* \brief Prints message type 1020 (GLONASS Ephemeris).
* \note Code added as part of GSoC 2017 program
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \param glonass_gnav_utc_model GLONASS GNAV Clock Information
* \return Returns message type as a string type
*/
* \brief Prints message type 1020 (GLONASS Ephemeris).
* \note Code added as part of GSoC 2017 program
* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
* \param glonass_gnav_utc_model GLONASS GNAV Clock Information
* \return Returns message type as a string type
*/
std::string print_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
/*!
@ -481,8 +481,8 @@ private:
//
static std::map<std::string, int> galileo_signal_map;
static std::map<std::string, int> gps_signal_map;
std::vector<std::pair<int32_t, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const;
std::vector<std::pair<int32_t, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const;
std::vector<std::pair<int32_t, Gnss_Synchro>> sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const;
std::vector<std::pair<int32_t, Gnss_Synchro>> sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const;
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
@ -630,7 +630,7 @@ private:
}
private:
std::set<std::shared_ptr<RtcmListener> > participants_;
std::set<std::shared_ptr<RtcmListener>> participants_;
enum
{
max_recent_msgs = 1
@ -840,7 +840,7 @@ private:
class Queue_Reader
{
public:
Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string>>& queue, int32_t port) : queue_(queue)
{
boost::asio::ip::tcp::resolver resolver(io_context);
std::string host("localhost");
@ -871,7 +871,7 @@ private:
private:
std::shared_ptr<Tcp_Internal_Client> c;
std::shared_ptr<Concurrent_Queue<std::string> >& queue_;
std::shared_ptr<Concurrent_Queue<std::string>>& queue_;
};
@ -946,7 +946,7 @@ private:
};
b_io_context io_context;
std::shared_ptr<Concurrent_Queue<std::string> > rtcm_message_queue;
std::shared_ptr<Concurrent_Queue<std::string>> rtcm_message_queue;
std::thread t;
std::thread tq;
std::list<Rtcm::Tcp_Server> servers;

22
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -38,12 +38,23 @@
#include <unistd.h> // for close, write
Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name, const std::string& base_path)
Rtcm_Printer::Rtcm_Printer(const std::string& filename,
bool flag_rtcm_file_dump,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
const std::string& rtcm_dump_devname,
bool time_tag_name,
const std::string& base_path) : rtcm_base_path(base_path),
rtcm_devname(rtcm_dump_devname),
port(rtcm_tcp_port),
station_id(rtcm_station_id),
d_rtcm_writing_started(false),
d_rtcm_file_dump(flag_rtcm_file_dump)
{
const boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
const tm timeinfo = boost::posix_time::to_tm(pt);
d_rtcm_file_dump = flag_rtcm_file_dump;
rtcm_base_path = base_path;
if (d_rtcm_file_dump)
{
fs::path full_path(fs::current_path());
@ -134,7 +145,6 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump
}
}
rtcm_devname = rtcm_dump_devname;
if (flag_rtcm_tty_port == true)
{
rtcm_dev_descriptor = init_serial(rtcm_devname.c_str());
@ -148,10 +158,6 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump
rtcm_dev_descriptor = -1;
}
port = rtcm_tcp_port;
station_id = rtcm_station_id;
d_rtcm_writing_started = false;
rtcm = std::make_unique<Rtcm>(port);
if (flag_rtcm_server)

145
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -43,14 +43,14 @@
#include <vector>
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)
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
const std::string &dump_filename,
bool flag_dump_to_file,
bool flag_dump_to_mat) : d_rtk(rtk),
d_dump_filename(dump_filename),
d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_mat_enabled(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);
// ############# ENABLE DATA FILE LOG #################
@ -351,31 +351,31 @@ bool Rtklib_Solver::save_matfile() const
double Rtklib_Solver::get_gdop() const
{
return dop_[0];
return d_dop[0];
}
double Rtklib_Solver::get_pdop() const
{
return dop_[1];
return d_dop[1];
}
double Rtklib_Solver::get_hdop() const
{
return dop_[2];
return d_dop[2];
}
double Rtklib_Solver::get_vdop() const
{
return dop_[3];
return d_dop[3];
}
Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
{
return monitor_pvt;
return d_monitor_pvt;
}
@ -398,7 +398,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int valid_obs = 0; // valid observations counter
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
obs_data.fill({});
d_obs_data.fill({});
std::vector<eph_t> eph_data(MAXOBS);
std::vector<geph_t> geph_data(MAXOBS);
@ -455,7 +455,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
0);
@ -479,7 +479,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
@ -497,7 +497,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
@ -525,7 +525,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.WN,
0,
@ -555,7 +555,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
eph_data[i].week,
1); // Band 2 (L2)
@ -574,7 +574,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
1); // Band 2 (L2)
@ -603,7 +603,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
@ -621,7 +621,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
@ -649,7 +649,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0); // Band 0 (L1)
@ -672,7 +672,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS)))
{
obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
d_obs_data[i + valid_obs] = insert_obs_to_rtklib(d_obs_data[i + valid_obs],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
@ -687,7 +687,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
@ -715,7 +715,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(beidou_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0);
@ -737,7 +737,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS)))
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 3 (L2/G2/B3)
@ -755,7 +755,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 2 (L2/G2)
@ -878,34 +878,33 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
if (result == 0)
{
LOG(INFO) << "RTKLIB rtkpos error: " << rtk_.errbuf;
rtk_.neb = 0; // clear error buffer to avoid repeating the error message
LOG(INFO) << "RTKLIB rtkpos error: " << d_rtk.errbuf;
d_rtk.neb = 0; // clear error buffer to avoid repeating the error message
this->set_time_offset_s(0.0); // reset rx time estimation
this->set_num_valid_observations(0);
}
else
{
this->set_num_valid_observations(rtk_.sol.ns); // record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol;
this->set_num_valid_observations(d_rtk.sol.ns); // record the number of valid satellites used by the PVT solver
pvt_sol = d_rtk.sol;
// DOP computation
unsigned int used_sats = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
pvt_ssat[i] = rtk_.ssat[i];
if (rtk_.ssat[i].vs == 1)
pvt_ssat[i] = d_rtk.ssat[i];
if (d_rtk.ssat[i].vs == 1)
{
used_sats++;
}
}
std::vector<double> azel;
azel.reserve(used_sats * 2);
std::vector<double> azel(used_sats * 2);
int index_aux = 0;
for (auto &i : rtk_.ssat)
for (auto &i : d_rtk.ssat)
{
if (i.vs == 1)
{
@ -917,7 +916,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (index_aux > 0)
{
dops(index_aux, azel.data(), 0.0, dop_.data());
dops(index_aux, azel.data(), 0.0, d_dop.data());
}
this->set_valid_position(true);
std::array<double, 4> rx_position_and_time{};
@ -925,7 +924,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
rx_position_and_time[1] = pvt_sol.rr[1]; // [m]
rx_position_and_time[2] = pvt_sol.rr[2]; // [m]
// todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE)
if (d_rtk.opt.mode == PMODE_SINGLE)
{
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
@ -978,53 +977,53 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// ######## PVT MONITOR #########
// TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
d_monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
// WEEK
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
d_monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
// PVT GPS time
monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
d_monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
// User clock offset [s]
monitor_pvt.user_clk_offset = rx_position_and_time[3];
d_monitor_pvt.user_clk_offset = rx_position_and_time[3];
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
monitor_pvt.pos_x = pvt_sol.rr[0];
monitor_pvt.pos_y = pvt_sol.rr[1];
monitor_pvt.pos_z = pvt_sol.rr[2];
monitor_pvt.vel_x = pvt_sol.rr[3];
monitor_pvt.vel_y = pvt_sol.rr[4];
monitor_pvt.vel_z = pvt_sol.rr[5];
d_monitor_pvt.pos_x = pvt_sol.rr[0];
d_monitor_pvt.pos_y = pvt_sol.rr[1];
d_monitor_pvt.pos_z = pvt_sol.rr[2];
d_monitor_pvt.vel_x = pvt_sol.rr[3];
d_monitor_pvt.vel_y = pvt_sol.rr[4];
d_monitor_pvt.vel_z = pvt_sol.rr[5];
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
monitor_pvt.cov_xx = pvt_sol.qr[0];
monitor_pvt.cov_yy = pvt_sol.qr[1];
monitor_pvt.cov_zz = pvt_sol.qr[2];
monitor_pvt.cov_xy = pvt_sol.qr[3];
monitor_pvt.cov_yz = pvt_sol.qr[4];
monitor_pvt.cov_zx = pvt_sol.qr[5];
d_monitor_pvt.cov_xx = pvt_sol.qr[0];
d_monitor_pvt.cov_yy = pvt_sol.qr[1];
d_monitor_pvt.cov_zz = pvt_sol.qr[2];
d_monitor_pvt.cov_xy = pvt_sol.qr[3];
d_monitor_pvt.cov_yz = pvt_sol.qr[4];
d_monitor_pvt.cov_zx = pvt_sol.qr[5];
// GEO user position Latitude [deg]
monitor_pvt.latitude = this->get_latitude();
d_monitor_pvt.latitude = this->get_latitude();
// GEO user position Longitude [deg]
monitor_pvt.longitude = this->get_longitude();
d_monitor_pvt.longitude = this->get_longitude();
// GEO user position Height [m]
monitor_pvt.height = this->get_height();
d_monitor_pvt.height = this->get_height();
// NUMBER OF VALID SATS
monitor_pvt.valid_sats = pvt_sol.ns;
d_monitor_pvt.valid_sats = pvt_sol.ns;
// RTKLIB solution status
monitor_pvt.solution_status = pvt_sol.stat;
d_monitor_pvt.solution_status = pvt_sol.stat;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
monitor_pvt.solution_type = pvt_sol.type;
d_monitor_pvt.solution_type = pvt_sol.type;
// AR ratio factor for validation
monitor_pvt.AR_ratio_factor = pvt_sol.ratio;
d_monitor_pvt.AR_ratio_factor = pvt_sol.ratio;
// AR ratio threshold for validation
monitor_pvt.AR_ratio_threshold = pvt_sol.thres;
d_monitor_pvt.AR_ratio_threshold = pvt_sol.thres;
// GDOP / PDOP/ HDOP/ VDOP
monitor_pvt.gdop = dop_[0];
monitor_pvt.pdop = dop_[1];
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
d_monitor_pvt.gdop = d_dop[0];
d_monitor_pvt.pdop = d_dop[1];
d_monitor_pvt.hdop = d_dop[2];
d_monitor_pvt.vdop = d_dop[3];
this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
@ -1032,7 +1031,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
this->set_clock_drift_ppm(clock_drift_ppm);
// User clock drift [ppm]
monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
d_monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)
@ -1104,11 +1103,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// AR ratio threshold for validation
d_dump_file.write(reinterpret_cast<char *>(&pvt_sol.thres), sizeof(float));
// GDOP / PDOP/ HDOP/ VDOP
d_dump_file.write(reinterpret_cast<char *>(&dop_[0]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&dop_[1]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&dop_[2]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&dop_[3]), sizeof(double));
// GDOP / PDOP / HDOP / VDOP
d_dump_file.write(reinterpret_cast<char *>(&d_dop[0]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[1]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[2]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[3]), sizeof(double));
}
catch (const std::ifstream::failure &e)
{

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

@ -75,7 +75,7 @@
class Rtklib_Solver : public Pvt_Solution
{
public:
Rtklib_Solver(const rtk_t& rtk, int nchannels, const std::string& dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat);
Rtklib_Solver(const rtk_t& rtk, const std::string& dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat);
~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
@ -116,13 +116,12 @@ public:
private:
bool save_matfile() const;
std::array<obsd_t, MAXOBS> obs_data{};
std::array<double, 4> dop_{};
rtk_t rtk_{};
Monitor_Pvt monitor_pvt{};
std::array<obsd_t, MAXOBS> d_obs_data{};
std::array<double, 4> d_dop{};
rtk_t d_rtk{};
Monitor_Pvt d_monitor_pvt{};
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_nchannels; // Number of available channels for positioning
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
};

6
src/algorithms/PVT/libs/serdes_galileo_eph.h
View File

@ -49,9 +49,8 @@ public:
// google::protobuf::ShutdownProtobufLibrary();
}
inline Serdes_Galileo_Eph(const Serdes_Galileo_Eph& other) noexcept //!< Copy constructor
inline Serdes_Galileo_Eph(const Serdes_Galileo_Eph& other) noexcept : monitor_(other.monitor_) //!< Copy constructor
{
this->monitor_ = other.monitor_;
}
inline Serdes_Galileo_Eph& operator=(const Serdes_Galileo_Eph& rhs) noexcept //!< Copy assignment operator
@ -60,9 +59,8 @@ public:
return *this;
}
inline Serdes_Galileo_Eph(Serdes_Galileo_Eph&& other) noexcept //!< Move constructor
inline Serdes_Galileo_Eph(Serdes_Galileo_Eph&& other) noexcept : monitor_(std::move(other.monitor_)) //!< Move constructor
{
this->monitor_ = std::move(other.monitor_);
}
inline Serdes_Galileo_Eph& operator=(Serdes_Galileo_Eph&& other) noexcept //!< Move assignment operator

6
src/algorithms/PVT/libs/serdes_gps_eph.h
View File

@ -48,9 +48,8 @@ public:
// google::protobuf::ShutdownProtobufLibrary();
}
inline Serdes_Gps_Eph(const Serdes_Gps_Eph& other) noexcept //!< Copy constructor
inline Serdes_Gps_Eph(const Serdes_Gps_Eph& other) noexcept : monitor_(other.monitor_) //!< Copy constructor
{
this->monitor_ = other.monitor_;
}
inline Serdes_Gps_Eph& operator=(const Serdes_Gps_Eph& rhs) noexcept //!< Copy assignment operator
@ -59,9 +58,8 @@ public:
return *this;
}
inline Serdes_Gps_Eph(Serdes_Gps_Eph&& other) noexcept //!< Move constructor
inline Serdes_Gps_Eph(Serdes_Gps_Eph&& other) noexcept : monitor_(std::move(other.monitor_)) //!< Move constructor
{
this->monitor_ = std::move(other.monitor_);
}
inline Serdes_Gps_Eph& operator=(Serdes_Gps_Eph&& other) noexcept //!< Move assignment operator

6
src/algorithms/PVT/libs/serdes_monitor_pvt.h
View File

@ -49,9 +49,8 @@ public:
// google::protobuf::ShutdownProtobufLibrary();
}
inline Serdes_Monitor_Pvt(const Serdes_Monitor_Pvt& other) noexcept //!< Copy constructor
inline Serdes_Monitor_Pvt(const Serdes_Monitor_Pvt& other) noexcept : monitor_(other.monitor_) //!< Copy constructor
{
this->monitor_ = other.monitor_;
}
inline Serdes_Monitor_Pvt& operator=(const Serdes_Monitor_Pvt& rhs) noexcept //!< Copy assignment operator
@ -60,9 +59,8 @@ public:
return *this;
}
inline Serdes_Monitor_Pvt(Serdes_Monitor_Pvt&& other) noexcept //!< Move constructor
inline Serdes_Monitor_Pvt(Serdes_Monitor_Pvt&& other) noexcept : monitor_(std::move(other.monitor_)) //!< Move constructor
{
this->monitor_ = std::move(other.monitor_);
}
inline Serdes_Monitor_Pvt& operator=(Serdes_Monitor_Pvt&& other) noexcept //!< Move assignment operator

2
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -100,6 +100,7 @@ target_link_libraries(acquisition_adapters
PUBLIC
acquisition_gr_blocks
Gnuradio::blocks
Volkgnsssdr::volkgnsssdr
PRIVATE
gnss_sdr_flags
Boost::headers
@ -124,7 +125,6 @@ if(ENABLE_FPGA)
algorithms_libs
core_libs
Volk::volk
Volkgnsssdr::volkgnsssdr
)
endif()

15
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -31,7 +31,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -40,7 +40,10 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0.0),
channel_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -62,7 +65,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
num_codes_ = acq_parameters_.sampled_ms;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@ -73,10 +76,6 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -141,7 +140,7 @@ void BeidouB1iPcpsAcquisition::init()
void BeidouB1iPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);

4
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -26,10 +26,10 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -152,7 +152,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

15
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -38,7 +38,10 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0.0),
channel_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -60,7 +63,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
num_codes_ = acq_parameters_.sampled_ms;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@ -71,10 +74,6 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -138,7 +137,7 @@ void BeidouB3iPcpsAcquisition::init()
void BeidouB3iPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
beidou_b3i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);

4
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
View File

@ -25,10 +25,10 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -151,7 +151,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -88,8 +88,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;

20
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -29,7 +29,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -37,11 +37,16 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
configuration_(configuration),
role_(role),
threshold_(0.0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
acq_parameters_.ms_per_code = 4;
acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_OPT_ACQ_FS_SPS);
@ -60,7 +65,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
@ -73,11 +78,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -152,7 +152,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
if (acquire_pilot_ == true)
{

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -24,9 +24,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -156,7 +156,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

12
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -35,7 +35,11 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -95,7 +99,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
auto fft_if = gnss_fft_fwd_make_unique(nsamples_total); // Direct FFT
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total); // buffer for the local code
volk_gnsssdr::vector<gr_complex> fft_codes_padded(nsamples_total);
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E1_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = volk_gnsssdr::vector<uint32_t>(nsamples_total * GALILEO_E1_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp;
@ -172,10 +176,6 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -22,6 +22,7 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
@ -191,7 +192,7 @@ private:
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_;
std::string dump_filename_;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -89,8 +89,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -89,8 +89,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;

2
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -34,7 +34,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

18
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -29,7 +29,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -37,7 +37,12 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0.0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -65,18 +70,13 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -145,7 +145,7 @@ void GalileoE5aPcpsAcquisition::init()
void GalileoE5aPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
std::array<char, 3> signal_{};
signal_[0] = '5';
signal_[2] = '\0';

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

@ -22,9 +22,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -149,7 +149,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_;
Acq_Conf acq_parameters_;

12
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -34,7 +34,11 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -96,7 +100,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
auto fft_if = gnss_fft_fwd_make_unique(nsamples_total); // Direct FFT
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total);
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E5A_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = volk_gnsssdr::vector<uint32_t>(nsamples_total * GALILEO_E5A_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp;
@ -175,10 +179,6 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";

4
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -22,9 +22,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -200,7 +200,7 @@ private:
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::weak_ptr<ChannelFsm> channel_fsm_;
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
Gnss_Synchro* gnss_synchro_;
std::string role_;
std::string item_type_;

18
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.cc
View File

@ -30,14 +30,19 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
GalileoE5bPcpsAcquisition::GalileoE5bPcpsAcquisition(const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0.0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -65,18 +70,13 @@ GalileoE5bPcpsAcquisition::GalileoE5bPcpsAcquisition(const ConfigurationInterfac
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / GALILEO_E5B_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0F : 1.0F));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -143,7 +143,7 @@ void GalileoE5bPcpsAcquisition::init()
void GalileoE5bPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
std::array<char, 3> signal_{};
signal_[0] = '7';
signal_[2] = '\0';

4
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h
View File

@ -23,9 +23,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -181,7 +181,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_;

19
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc
View File

@ -26,15 +26,18 @@
#include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -96,7 +99,7 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
auto fft_if = gnss_fft_fwd_make_unique(nsamples_total); // Direct FFT
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total); // Buffer for local code
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E5B_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = volk_gnsssdr::vector<uint32_t>(nsamples_total * GALILEO_E5B_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp;
@ -175,10 +178,6 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";

4
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h
View File

@ -23,9 +23,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -198,7 +198,7 @@ private:
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_;

20
src/algorithms/acquisition/adapters/galileo_e6_pcps_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -36,11 +36,16 @@ GalileoE6PcpsAcquisition::GalileoE6PcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
configuration_(configuration),
role_(role),
threshold_(0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E6_B_CODE_CHIP_RATE_CPS, GALILEO_E6_OPT_ACQ_FS_SPS);
@ -58,7 +63,7 @@ GalileoE6PcpsAcquisition::GalileoE6PcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E6_B_CODE_CHIP_RATE_CPS / GALILEO_E6_B_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
@ -71,11 +76,6 @@ GalileoE6PcpsAcquisition::GalileoE6PcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -147,7 +147,7 @@ void GalileoE6PcpsAcquisition::init()
void GalileoE6PcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler)
{

4
src/algorithms/acquisition/adapters/galileo_e6_pcps_acquisition.h
View File

@ -24,9 +24,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -156,7 +156,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

17
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -30,7 +30,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -38,7 +38,11 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -59,7 +63,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GLONASS_L1_CA_CODE_RATE_CPS / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
@ -72,11 +76,6 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -142,7 +141,7 @@ void GlonassL1CaPcpsAcquisition::init()
void GlonassL1CaPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
glonass_l1_ca_code_gen_complex_sampled(code, fs_in_, 0);

4
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -26,9 +26,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -150,7 +150,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

17
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -29,7 +29,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -37,7 +37,11 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -58,7 +62,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GLONASS_L2_CA_CODE_RATE_CPS / GLONASS_L2_CA_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
@ -71,11 +75,6 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -141,7 +140,7 @@ void GlonassL2CaPcpsAcquisition::init()
void GlonassL2CaPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
glonass_l2_ca_code_gen_complex_sampled(code, fs_in_, 0);

4
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -25,9 +25,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -149,7 +149,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

18
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -32,7 +32,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -40,7 +40,12 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0.0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -61,7 +66,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
sampled_ms_ = acq_parameters_.sampled_ms;
@ -74,11 +79,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -150,7 +150,7 @@ void GpsL1CaPcpsAcquisition::init()
void GpsL1CaPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler)
{

4
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -28,9 +28,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* Classes for GNSS signal acquisition
@ -162,7 +162,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
std::weak_ptr<ChannelFsm> channel_fsm_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

19
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -28,16 +28,19 @@
#include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -89,7 +92,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// allocate memory to compute all the PRNs and compute all the possible codes
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total);
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = volk_gnsssdr::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max;
int32_t tmp;
int32_t tmp2;
@ -151,10 +154,6 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";

4
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -25,9 +25,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -196,7 +196,7 @@ private:
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::weak_ptr<ChannelFsm> channel_fsm_;
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
Gnss_Synchro* gnss_synchro_;
std::string role_;
int32_t doppler_center_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -57,7 +57,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
// --- Find number of samples per spreading code -------------------------
vector_length_ = static_cast<unsigned int>(round(fs_in_ / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
code_.reserve(vector_length_);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -29,7 +29,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -28,7 +28,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif

18
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -30,7 +30,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -38,7 +38,12 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -59,7 +64,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L2_M_CODE_RATE_CPS / GPS_L2_M_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@ -70,11 +75,6 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
if (in_streams_ > 1)
{
@ -149,7 +149,7 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler)
{

3
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -25,6 +25,7 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
@ -157,7 +158,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
std::weak_ptr<ChannelFsm> channel_fsm_;

8
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -37,7 +37,11 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -89,7 +93,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// allocate memory to compute all the PRNs and compute all the possible codes
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total);
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = volk_gnsssdr::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp;

10
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -23,10 +23,10 @@
#include "channel_fsm.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <cstddef> // for size_t
#include <memory> // for weak_ptr
#include <string> // for string
#include <vector>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <cstddef> // for size_t
#include <memory> // for weak_ptr
#include <string> // for string
/** \addtogroup Acquisition
* \{ */
@ -158,7 +158,7 @@ private:
static const uint32_t SHL_CODE_BITS = 65536; // shift left by 10 bits
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_;
std::string item_type_;

18
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -29,7 +29,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -37,7 +37,12 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
threshold_(0.0),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -58,7 +63,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5I_CODE_RATE_CPS / GPS_L5I_CODE_LENGTH_CHIPS)));
vector_length_ = static_cast<unsigned int>(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0));
code_ = std::vector<std::complex<float>>(vector_length_);
code_ = volk_gnsssdr::vector<std::complex<float>>(vector_length_);
fs_in_ = acq_parameters_.fs_in;
num_codes_ = acq_parameters_.sampled_ms;
@ -72,11 +77,6 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -150,7 +150,7 @@ void GpsL5iPcpsAcquisition::init()
void GpsL5iPcpsAcquisition::set_local_code()
{
std::vector<std::complex<float>> code(code_length_);
volk_gnsssdr::vector<std::complex<float>> code(code_length_);
if (acq_parameters_.use_automatic_resampler)
{

4
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -25,9 +25,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup Acquisition
* \{ */
@ -157,7 +157,7 @@ public:
private:
pcps_acquisition_sptr acquisition_;
std::vector<std::complex<float>> code_;
volk_gnsssdr::vector<std::complex<float>> code_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
std::weak_ptr<ChannelFsm> channel_fsm_;

12
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -37,7 +37,11 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : gnss_synchro_(nullptr),
role_(role),
doppler_center_(0),
channel_(0),
doppler_step_(0),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -92,7 +96,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
auto fft_if = gnss_fft_fwd_make_unique(nsamples_total); // Direct FFT
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total);
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = volk_gnsssdr::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp;
@ -153,10 +157,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";

3
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -24,6 +24,7 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
#include <memory>
#include <string>
#include <vector>
@ -198,7 +199,7 @@ private:
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::weak_ptr<ChannelFsm> channel_fsm_;
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
Gnss_Synchro* gnss_synchro_;
std::string item_type_;
std::string dump_filename_;

24
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -96,25 +96,25 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
d_CAF_window_hz = CAF_window_hz_;
d_enable_monitor_output = enable_monitor_output;
d_inbuffer.reserve(d_fft_size);
d_fft_code_I_A.reserve(d_fft_size);
d_magnitudeIA.reserve(d_fft_size);
d_inbuffer = std::vector<gr_complex>(d_fft_size);
d_fft_code_I_A = std::vector<gr_complex>(d_fft_size);
d_magnitudeIA = std::vector<float>(d_fft_size);
if (d_both_signal_components == true)
{
d_fft_code_Q_A.reserve(d_fft_size);
d_magnitudeQA.reserve(d_fft_size);
d_fft_code_Q_A = std::vector<gr_complex>(d_fft_size);
d_magnitudeQA = std::vector<float>(d_fft_size);
}
// IF COHERENT INTEGRATION TIME > 1
if (d_sampled_ms > 1)
{
d_fft_code_I_B.reserve(d_fft_size);
d_magnitudeIB.reserve(d_fft_size);
d_fft_code_I_B = std::vector<gr_complex>(d_fft_size);
d_magnitudeIB = std::vector<float>(d_fft_size);
if (d_both_signal_components == true)
{
d_fft_code_Q_B.reserve(d_fft_size);
d_magnitudeQB.reserve(d_fft_size);
d_fft_code_Q_B = std::vector<gr_complex>(d_fft_size);
d_magnitudeQB = std::vector<float>(d_fft_size);
}
}
@ -244,11 +244,11 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
* separately before non-coherent integration */
if (d_CAF_window_hz > 0)
{
d_CAF_vector.reserve(d_num_doppler_bins);
d_CAF_vector_I.reserve(d_num_doppler_bins);
d_CAF_vector = std::vector<float>(d_num_doppler_bins);
d_CAF_vector_I = std::vector<float>(d_num_doppler_bins);
if (d_both_signal_components == true)
{
d_CAF_vector_Q.reserve(d_num_doppler_bins);
d_CAF_vector_Q = std::vector<float>(d_num_doppler_bins);
}
}
}

85
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -47,20 +47,41 @@ pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
}
pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acquisition",
gr::io_signature::make(1, 1, conf_.it_size),
gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_)
: gr::block("pcps_acquisition",
gr::io_signature::make(1, 1, conf_.it_size),
gr::io_signature::make(0, 1, sizeof(Gnss_Synchro))),
d_acq_parameters(conf_),
d_gnss_synchro(nullptr),
d_dump_filename(conf_.dump_filename),
d_dump_number(0LL),
d_sample_counter(0ULL),
d_threshold(0.0),
d_mag(0),
d_input_power(0.0),
d_test_statistics(0.0),
d_doppler_center_step_two(0.0),
d_state(0),
d_positive_acq(0),
d_doppler_center(0U),
d_doppler_bias(0),
d_channel(0U),
d_samplesPerChip(conf_.samples_per_chip),
d_doppler_step(conf_.doppler_step),
d_num_noncoherent_integrations_counter(0U),
d_consumed_samples(conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2.0 : 1.0)),
d_num_doppler_bins(0U),
d_num_doppler_bins_step2(conf_.num_doppler_bins_step2),
d_dump_channel(conf_.dump_channel),
d_buffer_count(0U),
d_active(false),
d_worker_active(false),
d_step_two(false),
d_use_CFAR_algorithm_flag(conf_.use_CFAR_algorithm_flag),
d_dump(conf_.dump)
{
this->message_port_register_out(pmt::mp("events"));
d_acq_parameters = conf_;
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_positive_acq = 0;
d_state = 0;
d_doppler_bias = 0;
d_num_noncoherent_integrations_counter = 0U;
d_consumed_samples = d_acq_parameters.sampled_ms * d_acq_parameters.samples_per_ms * (d_acq_parameters.bit_transition_flag ? 2.0 : 1.0);
if (d_acq_parameters.sampled_ms == d_acq_parameters.ms_per_code)
{
d_fft_size = d_consumed_samples;
@ -70,23 +91,6 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_fft_size = d_consumed_samples * 2;
}
// d_fft_size = next power of two? ////
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = d_acq_parameters.doppler_step;
d_doppler_center = 0U;
d_doppler_center_step_two = 0.0;
d_test_statistics = 0.0;
d_channel = 0U;
if (conf_.it_size == sizeof(gr_complex))
{
d_cshort = false;
}
else
{
d_cshort = true;
}
// COD:
// Experimenting with the overlap/save technique for handling bit trannsitions
@ -110,25 +114,24 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_fft_if = gnss_fft_fwd_make_unique(d_fft_size);
d_ifft = gnss_fft_rev_make_unique(d_fft_size);
d_gnss_synchro = nullptr;
d_worker_active = false;
d_grid = arma::fmat();
d_narrow_grid = arma::fmat();
if (conf_.it_size == sizeof(gr_complex))
{
d_cshort = false;
}
else
{
d_cshort = true;
}
d_data_buffer = volk_gnsssdr::vector<std::complex<float>>(d_consumed_samples);
if (d_cshort)
{
d_data_buffer_sc = volk_gnsssdr::vector<lv_16sc_t>(d_consumed_samples);
}
d_grid = arma::fmat();
d_narrow_grid = arma::fmat();
d_step_two = false;
d_num_doppler_bins_step2 = d_acq_parameters.num_doppler_bins_step2;
d_samplesPerChip = d_acq_parameters.samples_per_chip;
d_buffer_count = 0U;
d_use_CFAR_algorithm_flag = d_acq_parameters.use_CFAR_algorithm_flag;
d_dump_number = 0LL;
d_dump_channel = d_acq_parameters.dump_channel;
d_dump = d_acq_parameters.dump;
d_dump_filename = d_acq_parameters.dump_filename;
if (d_dump)
{
std::string dump_path;

8
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -64,7 +64,7 @@
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
#include <gsl/gsl-lite.hpp>
namespace own = gsl;
#endif
@ -92,7 +92,7 @@ pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
class pcps_acquisition : public gr::block
{
public:
~pcps_acquisition() = default;
~pcps_acquisition() override = default;
/*!
* \brief Initializes acquisition algorithm and reserves memory.
@ -212,7 +212,7 @@ public:
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
gr_vector_void_star& output_items) override;
private:
friend pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
@ -226,7 +226,7 @@ private:
void send_positive_acquisition();
void dump_results(int32_t effective_fft_size);
bool is_fdma();
bool start();
bool start() override;
void calculate_threshold(void);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);

6
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -55,9 +55,9 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_max_dwells = conf_.max_dwells;
d_gnuradio_forecast_samples = d_fft_size;
d_state = 0;
d_fft_codes.reserve(d_fft_size);
d_magnitude.reserve(d_fft_size);
d_10_ms_buffer.reserve(50 * d_samples_per_ms);
d_fft_codes = volk_gnsssdr::vector<gr_complex>(d_fft_size);
d_magnitude = volk_gnsssdr::vector<float>(d_fft_size);
d_10_ms_buffer = volk_gnsssdr::vector<gr_complex>(50 * d_samples_per_ms);
d_fft_if = gnss_fft_fwd_make_unique(d_fft_size);
d_ifft = gnss_fft_rev_make_unique(d_fft_size);

57
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -19,7 +19,7 @@
#include "pcps_acquisition_fpga.h"
#include "gnss_sdr_make_unique.h"
#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <cmath> // for ceil
@ -34,37 +34,31 @@ pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
: d_acq_parameters(std::move(conf_)),
d_gnss_synchro(nullptr),
d_sample_counter(0ULL),
d_threshold(0.0),
d_mag(0),
d_input_power(0.0),
d_test_statistics(0.0),
d_doppler_step2(d_acq_parameters.doppler_step2),
d_doppler_center_step_two(0.0),
d_doppler_center(0U),
d_state(0),
d_doppler_index(0U),
d_channel(0U),
d_doppler_step(0U),
d_doppler_max(d_acq_parameters.doppler_max),
d_fft_size(d_acq_parameters.samples_per_code),
d_num_doppler_bins(0U),
d_downsampling_factor(d_acq_parameters.downsampling_factor),
d_select_queue_Fpga(d_acq_parameters.select_queue_Fpga),
d_total_block_exp(d_acq_parameters.total_block_exp),
d_num_doppler_bins_step2(d_acq_parameters.num_doppler_bins_step2),
d_max_num_acqs(d_acq_parameters.max_num_acqs),
d_active(false),
d_make_2_steps(d_acq_parameters.make_2_steps)
{
d_acq_parameters = std::move(conf_);
d_sample_counter = 0ULL; // Sample Counter
d_active = false;
d_state = 0;
d_fft_size = d_acq_parameters.samples_per_code;
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0U;
d_doppler_center = 0U;
d_doppler_index = 0U;
d_test_statistics = 0.0;
d_channel = 0U;
d_gnss_synchro = nullptr;
d_downsampling_factor = d_acq_parameters.downsampling_factor;
d_select_queue_Fpga = d_acq_parameters.select_queue_Fpga;
d_total_block_exp = d_acq_parameters.total_block_exp;
d_make_2_steps = d_acq_parameters.make_2_steps;
d_num_doppler_bins_step2 = d_acq_parameters.num_doppler_bins_step2;
d_doppler_step2 = d_acq_parameters.doppler_step2;
d_doppler_center_step_two = 0.0;
d_doppler_max = d_acq_parameters.doppler_max;
d_max_num_acqs = d_acq_parameters.max_num_acqs;
d_acquisition_fpga = std::make_unique<Fpga_Acquisition>(d_acq_parameters.device_name, d_acq_parameters.code_length, d_acq_parameters.doppler_max, d_fft_size,
d_acq_parameters.fs_in, d_acq_parameters.select_queue_Fpga, d_acq_parameters.all_fft_codes, d_acq_parameters.excludelimit);
}
@ -302,6 +296,7 @@ void pcps_acquisition_fpga::reset_acquisition()
d_acquisition_fpga->close_device();
}
void pcps_acquisition_fpga::stop_acquisition()
{
// this function stops the acquisition and the other FPGA Modules.

2
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -66,7 +66,7 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
d_input_power = 0.0;
d_state = 0;
d_disable_assist = false;
d_fft_codes.reserve(d_fft_size);
d_fft_codes = std::vector<gr_complex>(d_fft_size);
d_fft_if = gnss_fft_fwd_make_unique(d_fft_size);
d_ifft = gnss_fft_rev_make_unique(d_fft_size);

14
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -77,13 +77,13 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_fft_code_data.reserve(d_fft_size);
d_fft_code_pilot.reserve(d_fft_size);
d_data_correlation.reserve(d_fft_size);
d_pilot_correlation.reserve(d_fft_size);
d_correlation_plus.reserve(d_fft_size);
d_correlation_minus.reserve(d_fft_size);
d_magnitude.reserve(d_fft_size);
d_fft_code_data = std::vector<gr_complex>(d_fft_size);
d_fft_code_pilot = std::vector<gr_complex>(d_fft_size);
d_data_correlation = std::vector<gr_complex>(d_fft_size);
d_pilot_correlation = std::vector<gr_complex>(d_fft_size);
d_correlation_plus = std::vector<gr_complex>(d_fft_size);
d_correlation_minus = std::vector<gr_complex>(d_fft_size);
d_magnitude = std::vector<float>(d_fft_size);
d_fft_if = gnss_fft_fwd_make_unique(d_fft_size);
d_ifft = gnss_fft_rev_make_unique(d_fft_size);

4
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -102,8 +102,8 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
d_cl_fft_batch_size = 1;
d_in_buffer = std::vector<std::vector<gr_complex>>(d_max_dwells, std::vector<gr_complex>(d_fft_size));
d_magnitude.reserve(d_fft_size);
d_fft_codes.reserve(d_fft_size_pow2);
d_magnitude = std::vector<float>(d_fft_size);
d_fft_codes = std::vector<gr_complex>(_fft_size_pow2);
d_zero_vector = std::vector<gr_complex>(d_fft_size_pow2 - d_fft_size, 0.0);
d_opencl = init_opencl_environment("math_kernel.cl");

18
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -83,15 +83,14 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
// fft size is reduced.
d_fft_size = (d_samples_per_code) / d_folding_factor;
d_fft_codes.reserve(d_fft_size);
d_magnitude.reserve(d_samples_per_code * d_folding_factor);
d_magnitude_folded.reserve(d_fft_size);
d_fft_codes = std::vector<gr_complex>(d_fft_size);
d_magnitude = std::vector<float>(d_samples_per_code * d_folding_factor);
d_magnitude_folded = std::vector<float>(d_fft_size);
d_possible_delay = std::vector<uint32_t>(d_folding_factor);
d_corr_output_f = std::vector<float>(d_folding_factor);
d_possible_delay.reserve(d_folding_factor);
d_corr_output_f.reserve(d_folding_factor);
/*Create the d_code signal , which would store the values of the code in its
original form to perform later correlation in time domain*/
// Create the d_code vector, which would store the values of the code in its
// original form to perform later correlation in time domain
d_code = std::vector<gr_complex>(d_samples_per_code, lv_cmake(0.0F, 0.0F));
d_fft_if = gnss_fft_fwd_make_unique(d_fft_size);
@ -104,7 +103,8 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
d_enable_monitor_output = enable_monitor_output;
d_code_folded = std::vector<gr_complex>(d_fft_size, lv_cmake(0.0F, 0.0F));
d_signal_folded.reserve(d_fft_size);
d_signal_folded = std::vector<gr_complex>(d_fft_size);
d_noise_floor_power = 0;
d_doppler_resolution = 0;
d_threshold = 0;

4
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -98,8 +98,8 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_fft_codes.reserve(d_fft_size);
d_magnitude.reserve(d_fft_size);
d_fft_codes = std::vector<gr_complex>(d_fft_size);
d_magnitude = std::vector<float>(d_fft_size);
d_fft_if = gnss_fft_fwd_make_unique(d_fft_size);
d_ifft = gnss_fft_rev_make_unique(d_fft_size);

2
src/algorithms/acquisition/libs/CMakeLists.txt
View File

@ -33,6 +33,8 @@ else()
endif()
target_link_libraries(acquisition_libs
INTERFACE
Gnuradio::runtime
PRIVATE
Gflags::gflags
Glog::glog

35
src/algorithms/acquisition/libs/acq_conf.cc
View File

@ -18,43 +18,8 @@
#include "acq_conf.h"
#include "item_type_helpers.h"
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
#include <cmath>
Acq_Conf::Acq_Conf()
{
/* PCPS acquisition configuration */
sampled_ms = 1U;
ms_per_code = 1U;
max_dwells = 1U;
samples_per_chip = 2U;
chips_per_second = 1023000;
doppler_max = 5000;
doppler_min = -5000;
doppler_step = 250.0;
num_doppler_bins_step2 = 4U;
doppler_step2 = 125.0;
pfa = 0.0;
pfa2 = 0.0;
fs_in = 4000000;
samples_per_ms = 0.0;
samples_per_code = 0.0;
bit_transition_flag = false;
use_CFAR_algorithm_flag = true;
dump = false;
blocking = true;
make_2_steps = false;
dump_channel = 0U;
it_size = sizeof(gr_complex);
item_type = std::string("gr_complex");
blocking_on_standby = false;
use_automatic_resampler = false;
resampler_ratio = 1.0;
resampled_fs = 0LL;
resampler_latency_samples = 0U;
enable_monitor_output = false;
}
void Acq_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
const std::string &role, double chip_rate, double opt_freq)

61
src/algorithms/acquisition/libs/acq_conf.h
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@ -19,6 +19,7 @@
#define GNSS_SDR_ACQ_CONF_H
#include "configuration_interface.h"
#include <gnuradio/gr_complex.h>
#include <cstdint>
#include <string>
@ -32,46 +33,46 @@
class Acq_Conf
{
public:
Acq_Conf();
Acq_Conf() = default;
void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, double chip_rate, double opt_freq);
/* PCPS Acquisition configuration */
std::string item_type;
std::string item_type{"gr_complex"};
std::string dump_filename;
int64_t fs_in;
int64_t resampled_fs;
int64_t fs_in{4000000LL};
int64_t resampled_fs{0LL};
size_t it_size;
size_t it_size{sizeof(gr_complex)};
float doppler_step;
float samples_per_ms;
float doppler_step2;
float pfa;
float pfa2;
float samples_per_code;
float resampler_ratio;
float doppler_step{250.0};
float samples_per_ms{0.0};
float doppler_step2{125.0};
float pfa{0.0};
float pfa2{0.0};
float samples_per_code{0.0};
float resampler_ratio{1.0};
uint32_t sampled_ms;
uint32_t ms_per_code;
uint32_t samples_per_chip;
uint32_t chips_per_second;
uint32_t max_dwells;
uint32_t num_doppler_bins_step2;
uint32_t resampler_latency_samples;
uint32_t dump_channel;
int32_t doppler_max;
int32_t doppler_min;
uint32_t sampled_ms{1U};
uint32_t ms_per_code{1U};
uint32_t samples_per_chip{2U};
uint32_t chips_per_second{1023000U};
uint32_t max_dwells{1U};
uint32_t num_doppler_bins_step2{4U};
uint32_t resampler_latency_samples{0U};
uint32_t dump_channel{0U};
int32_t doppler_max{5000};
int32_t doppler_min{-5000};
bool bit_transition_flag;
bool use_CFAR_algorithm_flag;
bool dump;
bool blocking;
bool blocking_on_standby; // enable it only for unit testing to avoid sample consume on idle status
bool make_2_steps;
bool use_automatic_resampler;
bool enable_monitor_output;
bool bit_transition_flag{false};
bool use_CFAR_algorithm_flag{true};
bool dump{false};
bool blocking{true};
bool blocking_on_standby{false}; // enable it only for unit testing to avoid sample consume on idle status
bool make_2_steps{false};
bool use_automatic_resampler{false};
bool enable_monitor_output{false};
private:
void SetDerivedParams();

33
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -51,28 +51,25 @@ Fpga_Acquisition::Fpga_Acquisition(std::string device_name,
int64_t fs_in,
uint32_t select_queue,
uint32_t *all_fft_codes,
uint32_t excludelimit)
uint32_t excludelimit) : d_device_name(std::move(device_name)),
d_fs_in(fs_in),
d_fd(0), // driver descriptor
d_map_base(nullptr), // driver memory map
d_all_fft_codes(all_fft_codes),
d_vector_length(nsamples_total),
d_excludelimit(excludelimit),
d_nsamples_total(nsamples_total),
d_nsamples(nsamples), // number of samples not including padding
d_select_queue(select_queue),
d_doppler_max(doppler_max),
d_doppler_step(0),
d_PRN(0)
{
const uint32_t vector_length = nsamples_total;
// initial values
d_device_name = std::move(device_name);
d_fs_in = fs_in;
d_vector_length = vector_length;
d_excludelimit = excludelimit;
d_nsamples = nsamples; // number of samples not including padding
d_select_queue = select_queue;
d_nsamples_total = nsamples_total;
d_doppler_max = doppler_max;
d_doppler_step = 0;
d_fd = 0; // driver descriptor
d_map_base = nullptr; // driver memory map
d_all_fft_codes = all_fft_codes;
Fpga_Acquisition::open_device();
Fpga_Acquisition::reset_acquisition();
Fpga_Acquisition::fpga_acquisition_test_register();
Fpga_Acquisition::close_device();
d_PRN = 0;
DLOG(INFO) << "Acquisition FPGA class created";
}
@ -244,12 +241,14 @@ void Fpga_Acquisition::reset_acquisition()
// the FPGA HW modules including the multicorrelators
}
void Fpga_Acquisition::stop_acquisition()
{
d_map_base[8] = STOP_ACQUISITION; // setting bit 3 of d_map_base[8] stops the acquisition module. This stops all
// the FPGA HW modules including the multicorrelators
}
// this function is only used for the unit tests
void Fpga_Acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor)
{

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