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gnss-sdr/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc

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/*!
* \file hybrid_observables_cc.cc
* \brief Implementation of the pseudorange computation block for Galileo E1
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "hybrid_observables_cc.h"
#include <algorithm>
#include <bitset>
#include <cmath>
#include <iostream>
#include <map>
#include <sstream>
#include <vector>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "control_message_factory.h"
#include "gnss_synchro.h"
using google::LogMessage;
hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging)
{
return hybrid_observables_cc_sptr(new hybrid_observables_cc(nchannels, queue, dump, dump_filename, output_rate_ms, flag_averaging));
}
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_nchannels = nchannels;
d_output_rate_ms = output_rate_ms;
d_dump_filename = dump_filename;
d_flag_averaging = flag_averaging;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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();
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what();
}
}
}
}
hybrid_observables_cc::~hybrid_observables_cc()
{
d_dump_file.close();
}
bool Hybrid_pairCompare_gnss_synchro_Prn_delay_ms( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
{
return (a.second.Prn_timestamp_ms) < (b.second.Prn_timestamp_ms);
}
bool Hybrid_pairCompare_gnss_synchro_d_TOW_at_current_symbol( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
{
return (a.second.d_TOW_at_current_symbol) < (b.second.d_TOW_at_current_symbol);
}
int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
Gnss_Synchro current_gnss_synchro[d_nchannels];
std::map<int,Gnss_Synchro> current_gnss_synchro_map;
std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter;
d_sample_counter++; //count for the processed samples
/*
* 1. Read the GNSS SYNCHRO objects from available channels
*/
for (unsigned int i = 0; i < d_nchannels; i++)
{
//Copy the telemetry decoder data to local copy
current_gnss_synchro[i] = in[i][0];
/*
* 1.2 Assume no valid pseudoranges
*/
current_gnss_synchro[i].Flag_valid_pseudorange = false;
current_gnss_synchro[i].Pseudorange_m = 0.0;
if (current_gnss_synchro[i].Flag_valid_word)
{
//record the word structure in a map for pseudorange computation
current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
}
/*
* 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
*/
DLOG(INFO)<<"gnss_synchro set size="<<current_gnss_synchro_map.size()<<std::endl;
if(current_gnss_synchro_map.size() > 0)
{
/*
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* common RX time algorithm
*/
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
// gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_at_current_symbol);
// double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
// double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
//int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators
// double traveltime_ms;
// double pseudorange_m;
// double delta_rx_time_ms;
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
{
std::cout<<"CH "<<gnss_synchro_iter->second.Channel_ID<<" tracking GNSS System "<<gnss_synchro_iter->second.System<<" has PRN start at= "<<gnss_synchro_iter->second.Prn_timestamp_ms<<" [ms]"<<std::endl;
// // compute the required symbol history shift in order to match the reference symbol
// delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
// //compute the pseudorange
// traveltime_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0 + delta_rx_time_ms + GALILEO_STARTOFFSET_ms;
// pseudorange_m = traveltime_ms * GALILEO_C_m_ms; // [m]
// // update the pseudorange object
// //current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
// current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
// current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
// current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000)/1000 + GALILEO_STARTOFFSET_ms/1000.0;
//
}
std::cout<<std::endl;
}
// if(d_dump == true)
// {
// // MULTIPLEXED FILE RECORDING - Record results to file
// try
// {
// double tmp_double;
// for (unsigned int i = 0; i < d_nchannels ; i++)
// {
// tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
// d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = current_gnss_synchro[i].Prn_timestamp_ms;
// d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = current_gnss_synchro[i].Pseudorange_m;
// d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true);
// d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = current_gnss_synchro[i].PRN;
// d_dump_file.write((char*)&tmp_double, sizeof(double));
// }
// }
// catch (const std::ifstream::failure& e)
// {
// LOG(WARNING) << "Exception writing observables dump file " << e.what();
// }
// }
consume_each(1); //consume one by one
// for (unsigned int i = 0; i < d_nchannels ; i++)
// {
// *out[i] = current_gnss_synchro[i];
// }
//todo: enable output when the hybrid algorithm is completed
return 0; //Output the observables
}
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