mirror of https://github.com/gnss-sdr/gnss-sdr
138 lines
4.3 KiB
C++
138 lines
4.3 KiB
C++
/*!
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* \file hybrid_observables_gs.h
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* \brief Interface of the observables computation block
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* \author Javier Arribas 2013. jarribas(at)cttc.es
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* \author Antonio Ramos 2018. antonio.ramos(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_HYBRID_OBSERVABLES_GS_H
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#define GNSS_SDR_HYBRID_OBSERVABLES_GS_H
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#include "gnss_block_interface.h"
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#include "gnss_time.h" // for timetags produced by Tracking
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#include "obs_conf.h"
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#include <boost/circular_buffer.hpp> // for boost::circular_buffer
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#include <gnuradio/block.h> // for block
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#include <gnuradio/types.h> // for gr_vector_int
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#include <cstddef> // for size_t
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#include <cstdint> // for int32_t
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#include <fstream> // for std::ofstream
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#include <map> // for std::map
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#include <memory> // for std::shared, std:unique_ptr
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#include <queue>
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#include <string> // for std::string
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#include <typeinfo> // for typeid
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#include <vector> // for std::vector
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/** \addtogroup Observables
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* \{ */
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/** \addtogroup Observables_gnuradio_blocks obs_gr_blocks
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* GNU Radio blocks for the computation of GNSS observables
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* \{ */
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class Gnss_Synchro;
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class hybrid_observables_gs;
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template <class T>
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class Gnss_circular_deque;
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using hybrid_observables_gs_sptr = gnss_shared_ptr<hybrid_observables_gs>;
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hybrid_observables_gs_sptr hybrid_observables_gs_make(const Obs_Conf& conf_);
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/*!
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* \brief This class implements a block that computes observables
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*/
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class hybrid_observables_gs : public gr::block
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{
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public:
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~hybrid_observables_gs();
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void forecast(int noutput_items, gr_vector_int& ninput_items_required);
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int general_work(int noutput_items, gr_vector_int& ninput_items,
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gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
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private:
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friend hybrid_observables_gs_sptr hybrid_observables_gs_make(const Obs_Conf& conf_);
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explicit hybrid_observables_gs(const Obs_Conf& conf_);
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const size_t d_double_type_hash_code = typeid(double).hash_code();
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void msg_handler_pvt_to_observables(const pmt::pmt_t& msg);
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double compute_T_rx_s(const Gnss_Synchro& a) const;
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bool interp_trk_obs(Gnss_Synchro& interpolated_obs, uint32_t ch, uint64_t rx_clock) const;
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void update_TOW(const std::vector<Gnss_Synchro>& data);
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void compute_pranges(std::vector<Gnss_Synchro>& data) const;
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void smooth_pseudoranges(std::vector<Gnss_Synchro>& data);
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void set_tag_timestamp_in_sdr_timeframe(const std::vector<Gnss_Synchro>& data, uint64_t rx_clock);
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int32_t save_matfile() const;
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Obs_Conf d_conf;
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enum StringValue_
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{
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evGPS_1C,
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evGPS_2S,
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evGPS_L5,
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evSBAS_1C,
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evGAL_1B,
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evGAL_5X,
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evGAL_E6,
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evGAL_7X,
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evGLO_1G,
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evGLO_2G,
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evBDS_B1,
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evBDS_B2,
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evBDS_B3
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};
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std::map<std::string, StringValue_> d_mapStringValues;
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std::unique_ptr<Gnss_circular_deque<Gnss_Synchro>> d_gnss_synchro_history; // Tracking observable history
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boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history
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std::vector<std::queue<GnssTime>> d_SourceTagTimestamps;
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std::queue<GnssTime> d_TimeChannelTagTimestamps;
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std::vector<bool> d_channel_last_pll_lock;
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std::vector<double> d_channel_last_pseudorange_smooth;
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std::vector<double> d_channel_last_carrier_phase_rads;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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double d_smooth_filter_M;
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double d_T_rx_step_s;
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double d_last_rx_clock_round20ms_error;
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uint32_t d_T_rx_TOW_ms;
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uint32_t d_T_rx_step_ms;
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uint32_t d_T_status_report_timer_ms;
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uint32_t d_nchannels_in;
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uint32_t d_nchannels_out;
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bool d_T_rx_TOW_set; // rx time follow GPST
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bool d_always_output_gs;
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bool d_dump;
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bool d_dump_mat;
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_HYBRID_OBSERVABLES_GS_H
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