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Dump incoming Gnss Synchros in observables

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This commit is contained in:
Antonio Ramos 2018-02-21 16:10:03 +01:00
parent a2eaf403ff
commit df5f51ba91
2 changed files with 53 additions and 9 deletions
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60
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -61,6 +61,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
set_T_rx_s = false;
d_nchannels = nchannels_out;
d_dump_filename = dump_filename;
d_dump_filename_in = d_dump_filename;
T_rx_s = 0.0;
T_rx_step_s = 0.001; // 1 ms
max_delta = 0.1; // 100 ms
@ -80,6 +81,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_filename.append(".bin");
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
}
@ -89,6 +91,21 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
d_dump = false;
}
}
if (!d_dump_in.is_open())
{
try
{
d_dump_in.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_filename_in.append("_in.bin");
d_dump_in.open(d_dump_filename_in.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what();
d_dump = false;
}
}
}
}
@ -103,6 +120,14 @@ hybrid_observables_cc::~hybrid_observables_cc()
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
if (d_dump_in.is_open())
{
try { d_dump_in.close(); }
catch(const std::exception & ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
if(d_dump)
{
std::cout << "Writing observables .mat files ...";
@ -225,7 +250,6 @@ int hybrid_observables_cc::save_matfile()
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if(reinterpret_cast<long*>(matfp) != NULL)
@ -392,7 +416,7 @@ std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::d
{
result.first = Gnss_Synchro();
result.second = Gnss_Synchro();
LOG(WARNING) << e.what();
LOG(WARNING) << "Exception computing observables " << e.what();
}
return result;
}
@ -420,11 +444,11 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
std::vector<Gnss_Synchro>::iterator it;
for(it = data.begin(); it != data.end(); it++)
{
if(it->RX_time > TOW_ref) { TOW_ref = it->RX_time; }
if(it->TOW_at_current_symbol_s > TOW_ref) { TOW_ref = it->TOW_at_current_symbol_s; }
}
for(it = data.begin(); it != data.end(); it++)
{
double traveltime_s = TOW_ref - it->RX_time + GPS_STARTOFFSET_ms / 1000.0;
double traveltime_s = TOW_ref - it->TOW_at_current_symbol_s + GPS_STARTOFFSET_ms / 1000.0;
it->RX_time = TOW_ref + GPS_STARTOFFSET_ms / 1000.0;
it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
}
@ -465,12 +489,31 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if(in[i][aux].Flag_valid_word)
{
bool __dump = false;
it->push_back(in[i][aux]);
it->back().RX_time = compute_T_rx_s(in[i][aux]);
__dump = true;
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if(it->size() > 1)
{
if(it->front().PRN != it->back().PRN) { it->clear(); }
if(it->front().PRN != it->back().PRN) { it->clear(); __dump = false; }
}
if(d_dump && __dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
int tmp_int = static_cast<int>(it->back().PRN);
d_dump_in.write(reinterpret_cast<char*>(&tmp_int), sizeof(int));
d_dump_in.write(reinterpret_cast<char*>(&it->back().RX_time), sizeof(double));
d_dump_in.write(reinterpret_cast<char*>(&it->back().TOW_at_current_symbol_s), sizeof(double));
d_dump_in.write(it->back().Signal, 3 * sizeof(char));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
d_dump = false;
}
}
}
}
@ -524,10 +567,9 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
std::pair<Gnss_Synchro, Gnss_Synchro> gnss_pair = find_closest(*it);
Gnss_Synchro interpolated_gnss_synchro = gnss_pair.second;
interpolated_gnss_synchro.Carrier_Doppler_hz = interpolate_data(gnss_pair, T_rx_s, 0);
interpolated_gnss_synchro.Carrier_phase_rads = interpolate_data(gnss_pair, T_rx_s, 1);
interpolated_gnss_synchro.RX_time = interpolate_data(gnss_pair, T_rx_s, 2);
interpolated_gnss_synchro.TOW_at_current_symbol_s = interpolated_gnss_synchro.RX_time;
interpolated_gnss_synchro.Carrier_Doppler_hz = interpolate_data(gnss_pair, T_rx_s, 0);
interpolated_gnss_synchro.Carrier_phase_rads = interpolate_data(gnss_pair, T_rx_s, 1);
interpolated_gnss_synchro.TOW_at_current_symbol_s = interpolate_data(gnss_pair, T_rx_s, 2);
epoch_data.push_back(interpolated_gnss_synchro);
}

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -83,7 +83,9 @@ private:
unsigned int d_nchannels;
unsigned int d_num_valid_channels;
std::string d_dump_filename;
std::string d_dump_filename_in;
std::ofstream d_dump_file;
std::ofstream d_dump_in;
int save_matfile();
};