Adding TrackingCmd class to VTL engine

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -465,11 +465,6 @@ Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
     return d_monitor_pvt;
 }
 
-
-void get_vtl_data()
-{
-}
-
 bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging, bool get_vtl_data)
 {
     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
@@ -1041,7 +1036,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     Vtl_Data new_vtl_data;
                     new_vtl_data.init_storage(n_sats);
                     new_vtl_data.epoch_tow_s = gnss_observables_map.cbegin()->second.RX_time;
-
+                    new_vtl_data.sample_counter = gnss_observables_map.cbegin()->second.Tracking_sample_counter;  // TODO: check if the different tracking instants (different sample_counters) affect the VTL commands
                     for (int n = 0; n < n_sats; n++)
                         {
                             new_vtl_data.sat_p(n, 0) = rs[0 + 6 * n];

src/algorithms/PVT/libs/rtklib_solver.h

@@ -88,10 +88,8 @@ public:
 
     bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging, bool get_vtl_data);
 
-    void get_vtl_data();
     Vtl_Data vtl_data;
 
-
     double get_hdop() const override;
     double get_vdop() const override;
     double get_pdop() const override;

src/algorithms/PVT/libs/vtl_data.cc

@@ -20,6 +20,7 @@
 Vtl_Data::Vtl_Data()
 {
     epoch_tow_s = 0;
+    sample_counter = 0;
 }
 
 void Vtl_Data::init_storage(int n_sats)
@@ -33,11 +34,12 @@ void Vtl_Data::init_storage(int n_sats)
     doppler_hz = arma::vec(n_sats);
     carrier_phase_rads = arma::vec(n_sats);
     epoch_tow_s = 0;
+    sample_counter = 0;
 }
 
 void Vtl_Data::debug_print()
 {
-    std::cout << "vtl_data debug print at TOW: " << epoch_tow_s << "\n ";
+    std::cout << "vtl_data debug print at RX TOW: " << epoch_tow_s << ", TRK sample counter: " << sample_counter << "\n";
     sat_p.print("VTL Sat Positions");
     sat_v.print("VTL Sat Velocities");
     sat_dts.print("VTL Sat clocks");

src/algorithms/PVT/libs/vtl_data.h

@@ -19,7 +19,6 @@
 
 #include <armadillo>
 #include <cstdint>
-#include <map>
 #include <string>
 
 /** \addtogroup PVT
@@ -34,17 +33,19 @@ public:
     Vtl_Data();
     void init_storage(int n_sats);
 
-    arma::mat sat_p;            //Satellite ECEF Position [m]
+    arma::mat sat_p;            // Satellite ECEF Position [m]
-    arma::mat sat_v;            //Satellite Velocity [m/s]
+    arma::mat sat_v;            // Satellite Velocity [m/s]
-    arma::mat sat_dts;          //Satellite clock bias and drift [s,s/s]
+    arma::mat sat_dts;          // Satellite clock bias and drift [s,s/s]
-    arma::vec sat_var;          //sat position and clock error variance [m^2]
+    arma::vec sat_var;          // sat position and clock error variance [m^2]
-    arma::vec sat_health_flag;  //sat health flag (0 is ok)
+    arma::vec sat_health_flag;  // sat health flag (0 is ok)
 
-    arma::vec pr_m;                //Satellite Code pseudoranges [m]
+    arma::vec pr_m;                // Satellite Code pseudoranges [m]
-    arma::vec doppler_hz;          //satellite Carrier Dopplers [Hz]
+    arma::vec doppler_hz;          // satellite Carrier Dopplers [Hz]
-    arma::vec carrier_phase_rads;  //satellite accumulated carrier phases [rads]
+    arma::vec carrier_phase_rads;  // satellite accumulated carrier phases [rads]
 
-    double epoch_tow_s;  //current observation RX time [s]
+    // time handling
+    double epoch_tow_s;       // current observation RX time [s]
+    uint64_t sample_counter;  // current sample counter associated with RX time [samples from start]
     void debug_print();
 };
 

src/algorithms/PVT/libs/vtl_engine.cc

@@ -27,6 +27,18 @@ Vtl_Engine::~Vtl_Engine()
 bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
 {
     //TODO: Implement main VTL loop here
+
+    //TODO: Fill the tracking commands outputs
+    // Notice: keep the same satellite order as in the Vtl_Data matrices
+    // sample code
+    TrackingCmd trk_cmd;
+    trk_cmd.carrier_freq_hz = 0;
+    trk_cmd.carrier_freq_rate_hz_s = 0;
+    trk_cmd.code_freq_chips = 0;
+    trk_cmd.enable_carrier_nco_cmd = true;
+    trk_cmd.enable_code_nco_cmd = true;
+    trk_cmd.sample_counter = new_data.sample_counter;
+    trk_cmd_outs.push_back(trk_cmd);
     return true;
 }
 

src/algorithms/PVT/libs/vtl_engine.h

@@ -17,11 +17,13 @@
 #ifndef GNSS_SDR_VTL_ENGINE_H
 #define GNSS_SDR_VTL_ENGINE_H
 
+#include "trackingcmd.h"
 #include "vtl_conf.h"
 #include "vtl_data.h"
 #include <armadillo>
 #include <cstdint>
 #include <string>
+#include <vector>
 
 /** \addtogroup PVT
  * \{ */
@@ -43,6 +45,8 @@ public:
     void reset();        // reset all internal states
     void debug_print();  // print debug information
 
+    std::vector<TrackingCmd> trk_cmd_outs;  // vector holding the Tracking command states updates to be sent to tracking KFs
+
 private:
     Vtl_Conf config;
     //TODO: Internal VTL persistent variables here

src/algorithms/libs/trackingcmd.h

@@ -28,8 +28,6 @@
 class TrackingCmd
 {
 public:
-    TrackingCmd();
-
     bool enable_carrier_nco_cmd = false;
     bool enable_code_nco_cmd = false;
     double code_freq_chips = 0.0;