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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 12:40:35 +00:00
Dump incoming Gnss Synchros in observables
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parent
a2eaf403ff
commit
df5f51ba91
@ -61,6 +61,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
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set_T_rx_s = false;
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d_nchannels = nchannels_out;
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d_dump_filename = dump_filename;
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d_dump_filename_in = d_dump_filename;
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T_rx_s = 0.0;
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T_rx_step_s = 0.001; // 1 ms
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max_delta = 0.1; // 100 ms
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@ -80,6 +81,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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d_dump_filename.append(".bin");
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
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}
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@ -89,6 +91,21 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
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d_dump = false;
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}
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}
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if (!d_dump_in.is_open())
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{
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try
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{
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d_dump_in.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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d_dump_filename_in.append("_in.bin");
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d_dump_in.open(d_dump_filename_in.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure & e)
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{
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LOG(WARNING) << "Exception opening observables dump file " << e.what();
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d_dump = false;
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}
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}
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}
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}
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@ -103,6 +120,14 @@ hybrid_observables_cc::~hybrid_observables_cc()
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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}
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if (d_dump_in.is_open())
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{
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try { d_dump_in.close(); }
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catch(const std::exception & ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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}
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if(d_dump)
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{
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std::cout << "Writing observables .mat files ...";
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@ -225,7 +250,6 @@ int hybrid_observables_cc::save_matfile()
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mat_t *matfp;
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matvar_t *matvar;
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std::string filename = d_dump_filename;
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filename.erase(filename.length() - 4, 4);
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filename.append(".mat");
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matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
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if(reinterpret_cast<long*>(matfp) != NULL)
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@ -392,7 +416,7 @@ std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::d
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{
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result.first = Gnss_Synchro();
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result.second = Gnss_Synchro();
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LOG(WARNING) << e.what();
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LOG(WARNING) << "Exception computing observables " << e.what();
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}
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return result;
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}
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@ -420,11 +444,11 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
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std::vector<Gnss_Synchro>::iterator it;
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for(it = data.begin(); it != data.end(); it++)
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{
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if(it->RX_time > TOW_ref) { TOW_ref = it->RX_time; }
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if(it->TOW_at_current_symbol_s > TOW_ref) { TOW_ref = it->TOW_at_current_symbol_s; }
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}
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for(it = data.begin(); it != data.end(); it++)
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{
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double traveltime_s = TOW_ref - it->RX_time + GPS_STARTOFFSET_ms / 1000.0;
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double traveltime_s = TOW_ref - it->TOW_at_current_symbol_s + GPS_STARTOFFSET_ms / 1000.0;
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it->RX_time = TOW_ref + GPS_STARTOFFSET_ms / 1000.0;
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it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
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}
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@ -465,12 +489,31 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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{
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if(in[i][aux].Flag_valid_word)
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{
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bool __dump = false;
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it->push_back(in[i][aux]);
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it->back().RX_time = compute_T_rx_s(in[i][aux]);
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__dump = true;
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// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
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if(it->size() > 1)
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{
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if(it->front().PRN != it->back().PRN) { it->clear(); }
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if(it->front().PRN != it->back().PRN) { it->clear(); __dump = false; }
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}
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if(d_dump && __dump)
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{
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// MULTIPLEXED FILE RECORDING - Record results to file
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try
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{
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int tmp_int = static_cast<int>(it->back().PRN);
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d_dump_in.write(reinterpret_cast<char*>(&tmp_int), sizeof(int));
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d_dump_in.write(reinterpret_cast<char*>(&it->back().RX_time), sizeof(double));
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d_dump_in.write(reinterpret_cast<char*>(&it->back().TOW_at_current_symbol_s), sizeof(double));
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d_dump_in.write(it->back().Signal, 3 * sizeof(char));
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}
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catch (const std::ifstream::failure& e)
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{
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LOG(WARNING) << "Exception writing observables dump file " << e.what();
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d_dump = false;
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}
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}
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}
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}
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@ -526,8 +569,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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interpolated_gnss_synchro.Carrier_Doppler_hz = interpolate_data(gnss_pair, T_rx_s, 0);
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interpolated_gnss_synchro.Carrier_phase_rads = interpolate_data(gnss_pair, T_rx_s, 1);
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interpolated_gnss_synchro.RX_time = interpolate_data(gnss_pair, T_rx_s, 2);
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interpolated_gnss_synchro.TOW_at_current_symbol_s = interpolated_gnss_synchro.RX_time;
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interpolated_gnss_synchro.TOW_at_current_symbol_s = interpolate_data(gnss_pair, T_rx_s, 2);
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epoch_data.push_back(interpolated_gnss_synchro);
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}
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@ -83,7 +83,9 @@ private:
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unsigned int d_nchannels;
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unsigned int d_num_valid_channels;
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std::string d_dump_filename;
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std::string d_dump_filename_in;
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std::ofstream d_dump_file;
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std::ofstream d_dump_in;
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int save_matfile();
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};
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