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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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2 changed files with 33 additions and 31 deletions
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60
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
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@ -66,7 +66,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
max_delta = 0.15; // 150 ms max_delta = 0.15; // 150 ms
valid_channels.resize(d_nchannels, false); valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0; 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 ################# // ############# ENABLE DATA FILE LOG #################
if (d_dump) 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() hybrid_observables_cc::~hybrid_observables_cc()
{ {
delete d_gnss_synchro_history;
if (d_dump_file.is_open()) if (d_dump_file.is_open())
{ {
try 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) 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; return false;
} }
@ -311,18 +313,18 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
// CARRIER PHASE INTERPOLATION // 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); 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; 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; out.Carrier_phase_rads = m * ti + c;
// CARRIER DOPPLER INTERPOLATION // 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); 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; 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; out.Carrier_Doppler_hz = m * ti + c;
// TOW INTERPOLATION // 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); 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; 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; out.TOW_at_current_symbol_s = m * ti + c;
return true; return true;
@ -375,9 +377,9 @@ std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_element
unsigned int closest = 0; unsigned int closest = 0;
double dif = std::numeric_limits<double>::max(); double dif = std::numeric_limits<double>::max();
double dt = 0.0; 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) if (dt < dif)
{ {
dif = dt; dif = dt;
@ -391,14 +393,14 @@ std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_element
index1 = 0; index1 = 0;
index2 = 1; 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; index1 = d_gnss_synchro_history->size(ch) - 2;
index2 = d_gnss_synchro_history.size(ch) - 1; index2 = d_gnss_synchro_history->size(ch) - 1;
} }
else 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; index1 = closest;
index2 = closest + 1; 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 else
{ {
@ -517,7 +519,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
if (total_input_items > 0) 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) 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) if (in[i][aux].Flag_valid_word)
{ {
d_gnss_synchro_history.push_back(i, 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]); 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 // 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++) 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; valid_channels[i] = true;
} }
@ -564,8 +566,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{ {
if (valid_channels[i]) if (valid_channels[i])
{ {
clean_history(d_gnss_synchro_history, i); clean_history(i);
if (d_gnss_synchro_history.size(i) < 2) if (d_gnss_synchro_history->size(i) < 2)
{ {
valid_channels[i] = false; 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; 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]) 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)) if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
{ {
epoch_data.push_back(interpolated_gnss_synchro); 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 friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename); 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); 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); double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti); 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); std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti);
@ -73,7 +73,7 @@ private:
int save_matfile(); int save_matfile();
//Tracking observable history //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; boost::dynamic_bitset<> valid_channels;
double T_rx_s; double T_rx_s;
double T_rx_step_s; double T_rx_step_s;