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Code Issues Releases Wiki Activity

Remove set_max_noutput_items

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This commit is contained in:
Antonio Ramos
2018-02-26 12:33:40 +01:00
parent e964bf060f
commit eed6ed1f5e
15 changed files with 233 additions and 275 deletions
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117
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@@ -39,6 +39,7 @@
#include <cmath>
#include <iostream>
#include <limits>
#include "display.h"
using google::LogMessage;
@@ -55,7 +56,6 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, unsigned
gr::io_signature::make(nchannels_in, nchannels_in, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels_out, nchannels_out, sizeof(Gnss_Synchro)))
{
set_max_noutput_items(1);
d_dump = dump;
d_nchannels = nchannels_out;
d_dump_filename = dump_filename;
@@ -78,7 +78,6 @@ 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();
}
@@ -224,6 +223,7 @@ int hybrid_observables_cc::save_matfile()
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
if(filename.size() > 4) { filename.erase(filename.end() - 4, filename.end()); }
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if(reinterpret_cast<long*>(matfp) != NULL)
@@ -288,40 +288,36 @@ int hybrid_observables_cc::save_matfile()
return 0;
}
double hybrid_observables_cc::interpolate_data(const std::pair<Gnss_Synchro, Gnss_Synchro>& a, const double& ti, int parameter)
bool hybrid_observables_cc::interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti)
{
// x(ti) = m * ti + c
// m = [x(t2) - x(t1)] / [t2 - t1]
// c = x(t1) - m * t1
std::deque<Gnss_Synchro>::iterator it;
double m = 0.0;
double c = 0.0;
arma::vec t = arma::vec(data.size());
arma::vec dop = t;
arma::vec cph = t;
arma::vec tow = t;
arma::vec tiv = arma::vec(1);
arma::vec result;
tiv(0) = ti;
if(!a.first.Flag_valid_word or !a.second.Flag_valid_word) { return 0.0; }
switch(parameter)
unsigned int aux = 0;
for(it = data.begin(); it != data.end(); it++)
{
case 0:// Doppler
m = (a.first.Carrier_Doppler_hz - a.second.Carrier_Doppler_hz) / (a.first.RX_time - a.second.RX_time);
c = a.second.Carrier_Doppler_hz - m * a.second.RX_time;
break;
t(aux) = it->RX_time;
dop(aux) = it->Carrier_Doppler_hz;
cph(aux) = it->Carrier_phase_rads;
tow(aux) = it->TOW_at_current_symbol_s;
case 1:// Carrier phase
m = (a.first.Carrier_phase_rads - a.second.Carrier_phase_rads) / (a.first.RX_time - a.second.RX_time);
c = a.second.Carrier_phase_rads - m * a.second.RX_time;
break;
case 2:// TOW
m = (a.first.TOW_at_current_symbol_s - a.second.TOW_at_current_symbol_s) / (a.first.RX_time - a.second.RX_time);
c = a.second.TOW_at_current_symbol_s - m * a.second.RX_time;
break;
case 3:// Code phase samples
m = (a.first.Code_phase_samples - a.second.Code_phase_samples) / (a.first.RX_time - a.second.RX_time);
c = a.second.Code_phase_samples - m * a.second.RX_time;
break;
aux++;
}
return(m * ti + c);
arma::interp1(t, dop, tiv, result);
out.Carrier_Doppler_hz = result(0);
arma::interp1(t, cph, tiv, result);
out.Carrier_phase_rads = result(0);
arma::interp1(t, tow, tiv, result);
out.TOW_at_current_symbol_s = result(0);
return result.is_finite();
}
double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro& a)
@@ -350,49 +346,6 @@ void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro>& data)
}
}
std::pair<Gnss_Synchro, Gnss_Synchro> hybrid_observables_cc::find_closest(std::deque<Gnss_Synchro>& data, const double& ti)
{
std::pair<Gnss_Synchro, Gnss_Synchro> result;
unsigned int index = 0;
double delta_t = std::numeric_limits<double>::max();
std::deque<Gnss_Synchro>::iterator it;
unsigned int aux = 0;
for(it = data.begin(); it != data.end(); it++)
{
double instant_delta = std::fabs(ti - it->RX_time);
if(instant_delta < delta_t)
{
delta_t = instant_delta;
index = aux;
}
aux++;
}
delta_t = ti - data.at(index).RX_time;
if( (index == 0) or (index == (data.size() - 1)) )
{
Gnss_Synchro invalid_data;
invalid_data.Flag_valid_pseudorange = false;
result.first = invalid_data;
result.second = invalid_data;
}
else if(delta_t < 0.0)
{
result.first = data.at(index);
result.first.Flag_valid_pseudorange = true;
result.second = data.at(index - 1);
result.second.Flag_valid_pseudorange = true;
}
else
{
result.first = data.at(index + 1);
result.first.Flag_valid_pseudorange = true;
result.second = data.at(index);
result.second.Flag_valid_pseudorange = true;
}
return result;
}
void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data)
{
std::vector<Gnss_Synchro>::iterator it;
@@ -417,6 +370,10 @@ void hybrid_observables_cc::correct_TOW_and_compute_prange(std::vector<Gnss_Sync
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * SPEED_OF_LIGHT
<< " meters in pseudorange";
std::cout << TEXT_RED << "System " << it->System << ". Signals " << it->Signal << " and " << it2->Signal
<< ". TOW difference in PRN " << it->PRN
<< " = " << tow_dif_ * 1e3 << "[ms]. Equivalent to " << tow_dif_ * SPEED_OF_LIGHT
<< " meters in pseudorange" << TEXT_RESET << std::endl;
}
}
}
@@ -514,17 +471,15 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{
if(valid_channels[i])
{
std::pair<Gnss_Synchro, Gnss_Synchro> gnss_pair = find_closest(*it, T_rx_s_out);
Gnss_Synchro interpolated_gnss_synchro = gnss_pair.second;
if(interpolated_gnss_synchro.Flag_valid_pseudorange)
Gnss_Synchro interpolated_gnss_synchro;
if(interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
{
interpolated_gnss_synchro.Carrier_Doppler_hz = interpolate_data(gnss_pair, T_rx_s_out, 0);
interpolated_gnss_synchro.Carrier_phase_rads = interpolate_data(gnss_pair, T_rx_s_out, 1);
interpolated_gnss_synchro.TOW_at_current_symbol_s = interpolate_data(gnss_pair, T_rx_s_out, 2);
epoch_data.push_back(interpolated_gnss_synchro);
}
else { valid_channels[i] = false; }
else
{
valid_channels[i] = false;
}
}
i++;
}

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

@@ -38,7 +38,6 @@
#include <gnuradio/block.h>
#include <fstream>
#include <string>
#include <utility> //std::pair
#include <vector> //std::vector
#include <deque>
#include <boost/dynamic_bitset.hpp>
@@ -67,8 +66,7 @@ private:
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
void clean_history(std::deque<Gnss_Synchro>& data);
double compute_T_rx_s(const Gnss_Synchro& a);
double interpolate_data(const std::pair<Gnss_Synchro, Gnss_Synchro>& a, const double& ti, int parameter);
std::pair<Gnss_Synchro, Gnss_Synchro> find_closest(std::deque<Gnss_Synchro>& data, const double& ti);
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile();