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make clang-format happy

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This commit is contained in:
M.A. Gomez 2024-01-18 16:58:50 +01:00
parent fc30788c12
commit ef9b737e92
5 changed files with 60 additions and 60 deletions
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92
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -2126,8 +2126,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
try try
{ {
d_internal_pvt_solver->vtl_engine.trk_cmd_outs.at(idx).channel_id = gnss_observables_iter->second.Channel_ID; d_internal_pvt_solver->vtl_engine.trk_cmd_outs.at(idx).channel_id = gnss_observables_iter->second.Channel_ID;
//todo: VTL loop CAN NOT run every PVT epoch because it is required to wait for the corrections to be applied to the tracking KF. // todo: VTL loop CAN NOT run every PVT epoch because it is required to wait for the corrections to be applied to the tracking KF.
//currently the VTL runs every PVT epoch which will create inestabilities. // currently the VTL runs every PVT epoch which will create inestabilities.
const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(d_internal_pvt_solver->vtl_engine.trk_cmd_outs.at(idx)); const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(d_internal_pvt_solver->vtl_engine.trk_cmd_outs.at(idx));
this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test)); this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test));
idx++; idx++;
@ -2138,50 +2138,50 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
d_internal_pvt_solver->vtl_engine.trk_cmd_outs.clear(); d_internal_pvt_solver->vtl_engine.trk_cmd_outs.clear();
//Dummy messages for evaluation of msg latency // Dummy messages for evaluation of msg latency
// std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter; // std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
// for (gnss_observables_iter = d_gnss_observables_map.cbegin(); // for (gnss_observables_iter = d_gnss_observables_map.cbegin();
// gnss_observables_iter != d_gnss_observables_map.cend(); // gnss_observables_iter != d_gnss_observables_map.cend();
// ++gnss_observables_iter) // CHECK INCONSISTENCY when combining GLONASS + other system // ++gnss_observables_iter) // CHECK INCONSISTENCY when combining GLONASS + other system
// { // {
// // test complete loop // // test complete loop
// if (gnss_observables_iter->second.last_vtl_cmd_sample_counter == 0) // if (gnss_observables_iter->second.last_vtl_cmd_sample_counter == 0)
// { // {
// // send new tracking command // // send new tracking command
// const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd()); // const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd());
// trk_cmd_test->carrier_freq_hz = 12345.4; // trk_cmd_test->carrier_freq_hz = 12345.4;
// trk_cmd_test->sample_counter = gnss_observables_iter->second.Tracking_sample_counter; // trk_cmd_test->sample_counter = gnss_observables_iter->second.Tracking_sample_counter;
// trk_cmd_test->channel_id = gnss_observables_iter->second.Channel_ID; // trk_cmd_test->channel_id = gnss_observables_iter->second.Channel_ID;
// this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test)); // this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test));
// d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID] = gnss_observables_iter->second.Tracking_sample_counter; // d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID] = gnss_observables_iter->second.Tracking_sample_counter;
// std::cout << "msg pvt_to_trk sent.\n"; // std::cout << "msg pvt_to_trk sent.\n";
// } // }
// else // else
// { // {
// // std::cout << "CH " << gnss_observables_iter->second.Channel_ID // // std::cout << "CH " << gnss_observables_iter->second.Channel_ID
// // << " T_RX: " << static_cast<float>(gnss_observables_iter->second.Tracking_sample_counter) / static_cast<float>(gnss_observables_iter->second.fs) // // << " T_RX: " << static_cast<float>(gnss_observables_iter->second.Tracking_sample_counter) / static_cast<float>(gnss_observables_iter->second.fs)
// // << " T_last_vtl_trk: " << static_cast<float>(gnss_observables_iter->second.last_vtl_cmd_sample_counter) / static_cast<float>(gnss_observables_iter->second.fs) // // << " T_last_vtl_trk: " << static_cast<float>(gnss_observables_iter->second.last_vtl_cmd_sample_counter) / static_cast<float>(gnss_observables_iter->second.fs)
// // << " T_map: " << static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID]) / static_cast<float>(gnss_observables_iter->second.fs) // // << " T_map: " << static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID]) / static_cast<float>(gnss_observables_iter->second.fs)
// // << " T2: " << static_cast<float>(gnss_observables_iter->second.last_vtl_cmd_sample_counter) - static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID]) // // << " T2: " << static_cast<float>(gnss_observables_iter->second.last_vtl_cmd_sample_counter) - static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID])
// // << " T3: " << static_cast<float>(gnss_observables_iter->second.Tracking_sample_counter) - static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID]) << "\n"; // // << " T3: " << static_cast<float>(gnss_observables_iter->second.Tracking_sample_counter) - static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID]) << "\n";
// //
// // To.Do: check if satellite change, check if there is a possibility to not find the last cmd timestamp in the map... // // To.Do: check if satellite change, check if there is a possibility to not find the last cmd timestamp in the map...
// if (gnss_observables_iter->second.last_vtl_cmd_sample_counter >= d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID]) // if (gnss_observables_iter->second.last_vtl_cmd_sample_counter >= d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID])
// { // {
// std::cout << "CH " << gnss_observables_iter->second.Channel_ID << " processed VTL cmd, total loop time is " // std::cout << "CH " << gnss_observables_iter->second.Channel_ID << " processed VTL cmd, total loop time is "
// << ((static_cast<float>(gnss_observables_iter->second.Tracking_sample_counter) - static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID])) / static_cast<float>(gnss_observables_iter->second.fs)) * 1000.0 // << ((static_cast<float>(gnss_observables_iter->second.Tracking_sample_counter) - static_cast<float>(d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID])) / static_cast<float>(gnss_observables_iter->second.fs)) * 1000.0
// << " [ms]!\n"; // << " [ms]!\n";
// // send new tracking command // // send new tracking command
// const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd()); // const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd());
// trk_cmd_test->carrier_freq_hz = 12345.4; // trk_cmd_test->carrier_freq_hz = 12345.4;
// trk_cmd_test->sample_counter = gnss_observables_iter->second.Tracking_sample_counter; // trk_cmd_test->sample_counter = gnss_observables_iter->second.Tracking_sample_counter;
// trk_cmd_test->channel_id = gnss_observables_iter->second.Channel_ID; // trk_cmd_test->channel_id = gnss_observables_iter->second.Channel_ID;
// this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test)); // this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test));
// d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID] = gnss_observables_iter->second.Tracking_sample_counter; // d_last_sent_vtl_cmd_samplestamp_map[gnss_observables_iter->second.Channel_ID] = gnss_observables_iter->second.Tracking_sample_counter;
// std::cout << "msg pvt_to_trk sent.\n"; // std::cout << "msg pvt_to_trk sent.\n";
// } // }
// } // }
// } // }
} }
else else
{ {
@ -2303,7 +2303,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
// VTP To.Do: Check why get_PVT is triggered twice. Leave only one get_PVT. // VTP To.Do: Check why get_PVT is triggered twice. Leave only one get_PVT.
//flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false); // flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false);
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, d_observable_interval_ms / 1000.0, false, d_enable_vtl, d_close_vtl_loop); flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, d_observable_interval_ms / 1000.0, false, d_enable_vtl, d_close_vtl_loop);
} }

4
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@ -906,8 +906,8 @@ int raim_fde(const obsd_t *obs, int n, const double *rs,
std::vector<double> pr_residual_vec; std::vector<double> pr_residual_vec;
std::vector<double> doppler_residual_vec; std::vector<double> doppler_residual_vec;
/* estimate receiver position without a satellite */ /* estimate receiver position without a satellite */
if (!estpos(obs_e, n - 1, rs_e, dts_e, vare_e, svh_e, nav, opt, &sol_e, azel_e, if (!estpos(obs_e, n - 1, rs_e, dts_e, vare_e, svh_e, nav, opt, &sol_e, azel_e,
vsat_e, resp_e, msg_e, iono_vec, tropo_vec, pr_corrected_code_bias_vec,pr_residual_vec,doppler_residual_vec)) vsat_e, resp_e, msg_e, iono_vec, tropo_vec, pr_corrected_code_bias_vec, pr_residual_vec, doppler_residual_vec))
{ {
trace(3, "raim_fde: exsat=%2d (%s)\n", obs[i].sat, msg); trace(3, "raim_fde: exsat=%2d (%s)\n", obs[i].sat, msg);
continue; continue;

6
src/algorithms/libs/rtklib/rtklib_rtkpos.cc
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@ -2802,7 +2802,7 @@ int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav,
/* rover position by single point positioning */ /* rover position by single point positioning */
if (!pntpos(obs, nu, nav, &rtk->opt, &rtk->sol, nullptr, rtk->ssat, msg, tropo_vec, if (!pntpos(obs, nu, nav, &rtk->opt, &rtk->sol, nullptr, rtk->ssat, msg, tropo_vec,
iono_vec, pr_corrected_code_bias_vec,pr_residual_vec,doppler_residual_vec)) iono_vec, pr_corrected_code_bias_vec, pr_residual_vec, doppler_residual_vec))
{ {
errmsg(rtk, "point pos error (%s)\n", msg); errmsg(rtk, "point pos error (%s)\n", msg);
if (!rtk->opt.dynamics) if (!rtk->opt.dynamics)
@ -2842,9 +2842,9 @@ int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav,
return 1; return 1;
} }
if (opt->mode == PMODE_MOVEB) if (opt->mode == PMODE_MOVEB)
{ /* moving baseline */ { /* moving baseline */
/* estimate position/velocity of base station */ /* estimate position/velocity of base station */
if (!pntpos(obs + nu, nr, nav, &rtk->opt, &solb, nullptr, nullptr, msg, tropo_vec, if (!pntpos(obs + nu, nr, nav, &rtk->opt, &solb, nullptr, nullptr, msg, tropo_vec,
iono_vec, pr_corrected_code_bias_vec, pr_residual_vec, doppler_residual_vec)) iono_vec, pr_corrected_code_bias_vec, pr_residual_vec, doppler_residual_vec))
{ {
errmsg(rtk, "base station position error (%s)\n", msg); errmsg(rtk, "base station position error (%s)\n", msg);

2
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
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@ -602,7 +602,7 @@ void *rtksvrthread(void *arg)
std::vector<double> pr_residual; std::vector<double> pr_residual;
std::vector<double> doppler_residual; std::vector<double> doppler_residual;
rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav, tropo_vec, rtkpos(&svr->rtk, obs.data, obs.n, &svr->nav, tropo_vec,
iono_vec, pr_corrected_code_bias_vec,pr_residual,doppler_residual); iono_vec, pr_corrected_code_bias_vec, pr_residual, doppler_residual);
rtksvrunlock(svr); rtksvrunlock(svr);
if (svr->rtk.sol.stat != SOLQ_NONE) if (svr->rtk.sol.stat != SOLQ_NONE)

12
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
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@ -657,13 +657,13 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
double old_code_phase_chips = d_x_old_old(0); double old_code_phase_chips = d_x_old_old(0);
if (cmd->enable_carrier_nco_cmd) if (cmd->enable_carrier_nco_cmd)
{ {
d_x_old_old(2) = tmp_x(2); // replace DOPPLER d_x_old_old(2) = tmp_x(2); // replace DOPPLER
} }
else else
{ {
// std::cout << "correction not applied" << std::endl; // std::cout << "correction not applied" << std::endl;
} }
// set vtl corrections flag to inform VTL from gnss_synchro object // set vtl corrections flag to inform VTL from gnss_synchro object
d_vtl_cmd_applied_now = true; d_vtl_cmd_applied_now = true;