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Merge pull request #149 from antonioramosdet/speed_up_observables

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Fix segmentation fault
This commit is contained in:
Javier Arribas 2018-04-09 18:03:51 +02:00 committed by GitHub
commit ee18572cf5
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 33 additions and 31 deletions
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60
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -66,7 +66,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
max_delta = 0.15; // 150 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
d_gnss_synchro_history = Gnss_circular_deque<Gnss_Synchro>(200, d_nchannels);
d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(200, d_nchannels);
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
@ -86,11 +86,13 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
}
}
}
std::cout << "SALIDA CONST HO. ()" << std::endl;
}
hybrid_observables_cc::~hybrid_observables_cc()
{
delete d_gnss_synchro_history;
if (d_dump_file.is_open())
{
try
@ -300,7 +302,7 @@ int hybrid_observables_cc::save_matfile()
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti)
{
if ((ti < d_gnss_synchro_history.front(ch).RX_time) or (ti > d_gnss_synchro_history.back(ch).RX_time))
if ((ti < d_gnss_synchro_history->front(ch).RX_time) or (ti > d_gnss_synchro_history->back(ch).RX_time))
{
return false;
}
@ -311,18 +313,18 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
// CARRIER PHASE INTERPOLATION
m = (d_gnss_synchro_history.at(ch, ind.first).Carrier_phase_rads - d_gnss_synchro_history.at(ch, ind.second).Carrier_phase_rads) / (d_gnss_synchro_history.at(ch, ind.first).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
c = d_gnss_synchro_history.at(ch, ind.first).Carrier_phase_rads - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
m = (d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads - d_gnss_synchro_history->at(ch, ind.second).Carrier_phase_rads) / (d_gnss_synchro_history->at(ch, ind.first).RX_time - d_gnss_synchro_history->at(ch, ind.second).RX_time);
c = d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads - m * d_gnss_synchro_history->at(ch, ind.first).RX_time;
out.Carrier_phase_rads = m * ti + c;
// CARRIER DOPPLER INTERPOLATION
m = (d_gnss_synchro_history.at(ch, ind.first).Carrier_Doppler_hz - d_gnss_synchro_history.at(ch, ind.second).Carrier_Doppler_hz) / (d_gnss_synchro_history.at(ch, ind.first).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
c = d_gnss_synchro_history.at(ch, ind.first).Carrier_Doppler_hz - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
m = (d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, ind.second).Carrier_Doppler_hz) / (d_gnss_synchro_history->at(ch, ind.first).RX_time - d_gnss_synchro_history->at(ch, ind.second).RX_time);
c = d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz - m * d_gnss_synchro_history->at(ch, ind.first).RX_time;
out.Carrier_Doppler_hz = m * ti + c;
// TOW INTERPOLATION
m = (d_gnss_synchro_history.at(ch, ind.first).TOW_at_current_symbol_s - d_gnss_synchro_history.at(ch, ind.second).TOW_at_current_symbol_s) / (d_gnss_synchro_history.at(ch, ind.first).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
c = d_gnss_synchro_history.at(ch, ind.first).TOW_at_current_symbol_s - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
m = (d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, ind.second).TOW_at_current_symbol_s) / (d_gnss_synchro_history->at(ch, ind.first).RX_time - d_gnss_synchro_history->at(ch, ind.second).RX_time);
c = d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s - m * d_gnss_synchro_history->at(ch, ind.first).RX_time;
out.TOW_at_current_symbol_s = m * ti + c;
return true;
@ -375,9 +377,9 @@ std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_element
unsigned int closest = 0;
double dif = std::numeric_limits<double>::max();
double dt = 0.0;
for (unsigned int i = 0; i < d_gnss_synchro_history.size(ch); i++)
for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++)
{
dt = std::fabs(ti - d_gnss_synchro_history.at(ch, i).RX_time);
dt = std::fabs(ti - d_gnss_synchro_history->at(ch, i).RX_time);
if (dt < dif)
{
dif = dt;
@ -391,14 +393,14 @@ std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_element
index1 = 0;
index2 = 1;
}
else if (closest == (d_gnss_synchro_history.size(ch) - 1))
else if (closest == (d_gnss_synchro_history->size(ch) - 1))
{
index1 = d_gnss_synchro_history.size(ch) - 2;
index2 = d_gnss_synchro_history.size(ch) - 1;
index1 = d_gnss_synchro_history->size(ch) - 2;
index2 = d_gnss_synchro_history->size(ch) - 1;
}
else
{
if (d_gnss_synchro_history.at(ch, closest).RX_time < ti)
if (d_gnss_synchro_history->at(ch, closest).RX_time < ti)
{
index1 = closest;
index2 = closest + 1;
@ -424,13 +426,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
}
void hybrid_observables_cc::clean_history(Gnss_circular_deque<Gnss_Synchro> &data, unsigned int pos)
void hybrid_observables_cc::clean_history(unsigned int pos)
{
while (data.size(pos) > 0)
while (d_gnss_synchro_history->size(pos) > 0)
{
if ((T_rx_s - data.front(pos).RX_time) > max_delta)
if ((T_rx_s - d_gnss_synchro_history->front(pos).RX_time) > max_delta)
{
data.pop_front(pos);
d_gnss_synchro_history->pop_front(pos);
}
else
{
@ -517,7 +519,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
if (total_input_items > 0)
{
for (unsigned int i = 0; i < d_nchannels; i++)
for (i = 0; i < d_nchannels; i++)
{
if (ninput_items[i] > 0)
{
@ -526,14 +528,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if (in[i][aux].Flag_valid_word)
{
d_gnss_synchro_history.push_back(i, in[i][aux]);
d_gnss_synchro_history.back(i).RX_time = compute_T_rx_s(in[i][aux]);
d_gnss_synchro_history->push_back(i, in[i][aux]);
d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]);
// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
if (d_gnss_synchro_history.size(i) > 1)
if (d_gnss_synchro_history->size(i) > 1)
{
if (d_gnss_synchro_history.front(i).PRN != d_gnss_synchro_history.back(i).PRN)
if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN)
{
d_gnss_synchro_history.clear(i);
d_gnss_synchro_history->clear(i);
}
}
}
@ -544,7 +546,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
for (i = 0; i < d_nchannels; i++)
{
if (d_gnss_synchro_history.size(i) > 2)
if (d_gnss_synchro_history->size(i) > 2)
{
valid_channels[i] = true;
}
@ -564,8 +566,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if (valid_channels[i])
{
clean_history(d_gnss_synchro_history, i);
if (d_gnss_synchro_history.size(i) < 2)
clean_history(i);
if (d_gnss_synchro_history->size(i) < 2)
{
valid_channels[i] = false;
}
@ -581,11 +583,11 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
}
std::vector<Gnss_Synchro> epoch_data;
for (unsigned int i = 0; i < d_nchannels; i++)
for (i = 0; i < d_nchannels; i++)
{
if (valid_channels[i])
{
Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history.back(i);
Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i);
if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
{
epoch_data.push_back(interpolated_gnss_synchro);

4
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -65,7 +65,7 @@ private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
void clean_history(Gnss_circular_deque<Gnss_Synchro>& data, unsigned int pos);
void clean_history(unsigned int pos);
double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti);
@ -73,7 +73,7 @@ private:
int save_matfile();
//Tracking observable history
Gnss_circular_deque<Gnss_Synchro> d_gnss_synchro_history;
Gnss_circular_deque<Gnss_Synchro>* d_gnss_synchro_history;
boost::dynamic_bitset<> valid_channels;
double T_rx_s;
double T_rx_step_s;