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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2019-09-09 16:24:47 +02:00
commit d810a1794c
8 changed files with 59 additions and 51 deletions
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10
src/algorithms/libs/gnss_circular_deque.h
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@ -44,7 +44,8 @@ public:
Gnss_circular_deque(); //!< Default constructor
Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann); //!< nchann = number of channels; max_size = channel capacity
unsigned int size(const unsigned int ch); //!< Returns the number of available elements in a channel
T& at(const unsigned int ch, const unsigned int pos); //!< Returns a reference to an element
T& at(const unsigned int ch, const unsigned int pos); //!< Returns a reference to an element with bount checking
T& get(const unsigned int ch, const unsigned int pos); //!< Returns a reference to an element without bound checking
T& front(const unsigned int ch); //!< Returns a reference to the first element in the deque
T& back(const unsigned int ch); //!< Returns a reference to the last element in the deque
void push_back(const unsigned int ch, const T& new_data); //!< Inserts an element at the end of the deque
@ -100,6 +101,13 @@ T& Gnss_circular_deque<T>::at(const unsigned int ch, const unsigned int pos)
}
template <class T>
T& Gnss_circular_deque<T>::get(const unsigned int ch, const unsigned int pos)
{
return d_data[ch][pos];
}
template <class T>
void Gnss_circular_deque<T>::clear(const unsigned int ch)
{

50
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -361,7 +361,7 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
int64_t old_abs_diff = std::numeric_limits<int64_t>::max();
for (uint32_t i = 0; i < d_gnss_synchro_history->size(ch); i++)
{
abs_diff = llabs(static_cast<int64_t>(rx_clock) - static_cast<int64_t>(d_gnss_synchro_history->at(ch, i).Tracking_sample_counter));
abs_diff = llabs(static_cast<int64_t>(rx_clock) - static_cast<int64_t>(d_gnss_synchro_history->get(ch, i).Tracking_sample_counter));
if (old_abs_diff > abs_diff)
{
old_abs_diff = abs_diff;
@ -371,10 +371,10 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
if (nearest_element != -1 and nearest_element != static_cast<int32_t>(d_gnss_synchro_history->size(ch)))
{
if ((static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs)) < 0.02)
if ((static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs)) < 0.02)
{
int32_t neighbor_element;
if (rx_clock > d_gnss_synchro_history->at(ch, nearest_element).Tracking_sample_counter)
if (rx_clock > d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter)
{
neighbor_element = nearest_element + 1;
}
@ -386,63 +386,63 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
{
int32_t t1_idx;
int32_t t2_idx;
if (rx_clock > d_gnss_synchro_history->at(ch, nearest_element).Tracking_sample_counter)
if (rx_clock > d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter)
{
// std::cout << "S1= " << d_gnss_synchro_history->at(ch, nearest_element).Tracking_sample_counter
// << " Si=" << rx_clock << " S2=" << d_gnss_synchro_history->at(ch, neighbor_element).Tracking_sample_counter << std::endl;
// std::cout << "S1= " << d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter
// << " Si=" << rx_clock << " S2=" << d_gnss_synchro_history->get(ch, neighbor_element).Tracking_sample_counter << std::endl;
t1_idx = nearest_element;
t2_idx = neighbor_element;
}
else
{
// std::cout << "inv S1= " << d_gnss_synchro_history->at(ch, neighbor_element).Tracking_sample_counter
// << " Si=" << rx_clock << " S2=" << d_gnss_synchro_history->at(ch, nearest_element).Tracking_sample_counter << std::endl;
// std::cout << "inv S1= " << d_gnss_synchro_history->get(ch, neighbor_element).Tracking_sample_counter
// << " Si=" << rx_clock << " S2=" << d_gnss_synchro_history->get(ch, nearest_element).Tracking_sample_counter << std::endl;
t1_idx = neighbor_element;
t2_idx = nearest_element;
}
// 1st: copy the nearest gnss_synchro data for that channel
interpolated_obs = d_gnss_synchro_history->at(ch, nearest_element);
interpolated_obs = d_gnss_synchro_history->get(ch, nearest_element);
// 2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
double T_rx_s = static_cast<double>(rx_clock) / static_cast<double>(interpolated_obs.fs);
double time_factor = (T_rx_s - d_gnss_synchro_history->at(ch, t1_idx).RX_time) /
(d_gnss_synchro_history->at(ch, t2_idx).RX_time -
d_gnss_synchro_history->at(ch, t1_idx).RX_time);
double time_factor = (T_rx_s - d_gnss_synchro_history->get(ch, t1_idx).RX_time) /
(d_gnss_synchro_history->get(ch, t2_idx).RX_time -
d_gnss_synchro_history->get(ch, t1_idx).RX_time);
// CARRIER PHASE INTERPOLATION
interpolated_obs.Carrier_phase_rads = d_gnss_synchro_history->at(ch, t1_idx).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, t2_idx).Carrier_phase_rads - d_gnss_synchro_history->at(ch, t1_idx).Carrier_phase_rads) * time_factor;
interpolated_obs.Carrier_phase_rads = d_gnss_synchro_history->get(ch, t1_idx).Carrier_phase_rads + (d_gnss_synchro_history->get(ch, t2_idx).Carrier_phase_rads - d_gnss_synchro_history->get(ch, t1_idx).Carrier_phase_rads) * time_factor;
// CARRIER DOPPLER INTERPOLATION
interpolated_obs.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, t1_idx).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, t2_idx).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, t1_idx).Carrier_Doppler_hz) * time_factor;
interpolated_obs.Carrier_Doppler_hz = d_gnss_synchro_history->get(ch, t1_idx).Carrier_Doppler_hz + (d_gnss_synchro_history->get(ch, t2_idx).Carrier_Doppler_hz - d_gnss_synchro_history->get(ch, t1_idx).Carrier_Doppler_hz) * time_factor;
// TOW INTERPOLATION
// check TOW rollover
if ((d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms - d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) > 0)
if ((d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms - d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms) > 0)
{
interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
}
else
{
// TOW rollover situation
interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms + 604800000) - static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms + 604800000) - static_cast<double>(d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
}
// LOG(INFO) << "Channel " << ch << " int idx: " << t1_idx << " TOW Int: " << interpolated_obs.interp_TOW_ms
// << " TOW p1 : " << d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms
// << " TOW p1 : " << d_gnss_synchro_history->get(ch, t1_idx).TOW_at_current_symbol_ms
// << " TOW p2: "
// << d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms
// << d_gnss_synchro_history->get(ch, t2_idx).TOW_at_current_symbol_ms
// << " t2-t1: "
// << d_gnss_synchro_history->at(ch, t2_idx).RX_time - d_gnss_synchro_history->at(ch, t1_idx).RX_time
// << d_gnss_synchro_history->get(ch, t2_idx).RX_time - d_gnss_synchro_history->get(ch, t1_idx).RX_time
// << " trx - t1: "
// << T_rx_s - d_gnss_synchro_history->at(ch, t1_idx).RX_time;
// << T_rx_s - d_gnss_synchro_history->get(ch, t1_idx).RX_time;
// std::cout << "Rx samplestamp: " << T_rx_s << " Channel " << ch << " interp buff idx " << nearest_element
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs) << " s)\n";
return true;
}
return false;
}
// std::cout << "ALERT: Channel " << ch << " interp buff idx " << nearest_element
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
// << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->get(ch, nearest_element).fs) << " s)\n";
// usleep(1000);
}
return false;
@ -610,7 +610,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
out[n][0] = epoch_data.at(n);
out[n][0] = epoch_data[n];
}
// report channel status every second
@ -619,7 +619,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data.at(n));
std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data[n]);
// publish valid gnss_synchro to the gnss_flowgraph channel status monitor
this->message_port_pub(pmt::mp("status"), pmt::make_any(gnss_synchro_sptr));
}

14
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -81,7 +81,7 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
if (BEIDOU_DNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -300,7 +300,7 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
if (BEIDOU_DNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -325,7 +325,7 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
if (BEIDOU_DNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -440,14 +440,14 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
d_subframe_symbols[i] = d_symbol_history[i];
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
d_subframe_symbols[i] = -d_symbol_history[i];
}
}
@ -497,14 +497,14 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
d_subframe_symbols[i] = d_symbol_history[i];
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
d_subframe_symbols[i] = -d_symbol_history[i];
}
}

14
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -81,7 +81,7 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
if (BEIDOU_DNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -318,7 +318,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
if (BEIDOU_DNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -342,7 +342,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
if (BEIDOU_DNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -466,14 +466,14 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
d_subframe_symbols[i] = d_symbol_history[i];
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
d_subframe_symbols[i] = -d_symbol_history[i];
}
}
@ -526,14 +526,14 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
d_subframe_symbols[i] = d_symbol_history[i];
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
d_subframe_symbols[i] = -d_symbol_history[i];
}
}

12
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -135,7 +135,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
{
case 1: // INAV
{
if (GALILEO_INAV_PREAMBLE.at(i) == '1')
if (GALILEO_INAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -147,7 +147,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
}
case 2: // FNAV for E5a-I
{
if (GALILEO_FNAV_PREAMBLE.at(i) == '1')
if (GALILEO_FNAV_PREAMBLE[i] == '1')
{
d_preamble_samples[i] = 1;
}
@ -571,14 +571,14 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
d_page_part_symbols[i] = d_symbol_history[i + d_samples_per_preamble]; // because last symbol of the preamble is just received now!
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = -d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
d_page_part_symbols[i] = -d_symbol_history[i + d_samples_per_preamble]; // because last symbol of the preamble is just received now!
}
}
decode_INAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
@ -592,7 +592,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
d_page_part_symbols[i] = d_symbol_history[i + d_samples_per_preamble]; // because last symbol of the preamble is just received now!
}
}
}
@ -602,7 +602,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = -d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
d_page_part_symbols[i] = -d_symbol_history[i + d_samples_per_preamble]; // because last symbol of the preamble is just received now!
}
}
}

4
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
View File

@ -343,11 +343,11 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
{
if (corr_value > 0)
{
string_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
string_symbols[i] = d_symbol_history[i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
}
else
{
string_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
string_symbols[i] = -d_symbol_history[i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
}
}

4
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@ -343,11 +343,11 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
{
if (corr_value > 0)
{
string_symbols[i] = d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
string_symbols[i] = d_symbol_history[i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
}
else
{
string_symbols[i] = -d_symbol_history.at(i + d_symbols_per_preamble).Prompt_I; // because last symbol of the preamble is just received now!
string_symbols[i] = -d_symbol_history[i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
}
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -87,7 +87,7 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
int32_t n = 0;
for (int32_t i = 0; i < d_bits_per_preamble; i++)
{
if (GPS_CA_PREAMBLE.at(i) == '1')
if (GPS_CA_PREAMBLE[i] == '1')
{
d_preamble_samples[n] = 1;
n++;