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|---|---|---|---|
| 1 | #include "Observation.hpp" | ||
| 2 | #include <array> | ||
| 3 | #include <cstddef> | ||
| 4 | #include <unordered_set> | ||
| 5 | |||
| 6 | #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp" | ||
| 7 | |||
| 8 | namespace NAV | ||
| 9 | { | ||
| 10 | |||
| 11 | ✗ | size_t Observations::countObservations(const SatSigId& satSigId, const GnssObs::ObservationType& obsType) const | |
| 12 | { | ||
| 13 | ✗ | if (!signals.contains(satSigId)) { return 0; } | |
| 14 | |||
| 15 | ✗ | const auto& recvObs = signals.at(satSigId).recvObs; | |
| 16 | ✗ | return static_cast<size_t>(std::ranges::count_if(recvObs, [&obsType](const auto& obs) { | |
| 17 | ✗ | return obs.second->obs.contains(obsType); | |
| 18 | ✗ | })); | |
| 19 | } | ||
| 20 | |||
| 21 | 933 | void Observations::recalcObservableCounts([[maybe_unused]] const std::string& nameId) | |
| 22 | { | ||
| 23 | 933 | std::array<std::unordered_set<SatId>, GnssObs::ObservationType_COUNT> nMeasUniqueSat; | |
| 24 | 933 | systems.clear(); | |
| 25 | 933 | satellites.clear(); | |
| 26 |
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933 | nObservables.fill(0); |
| 27 |
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933 | nObservablesUniqueSatellite.fill(0); |
| 28 | |||
| 29 |
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35836 | for (const auto& [satSigId, sigObs] : signals) |
| 30 | { | ||
| 31 |
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34903 | auto satId = satSigId.toSatId(); |
| 32 |
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34903 | satellites.insert(satId); |
| 33 |
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34903 | systems.insert(satId.satSys); |
| 34 | |||
| 35 | 34903 | const auto& recvObs = sigObs.recvObs.begin(); | |
| 36 |
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103833 | for (const auto& obs : recvObs->second->obs) |
| 37 | { | ||
| 38 | 68930 | auto obsType = static_cast<size_t>(obs.first); | |
| 39 |
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68930 | nObservables.at(obsType)++; |
| 40 |
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68930 | nMeasUniqueSat.at(obsType).insert(satId); |
| 41 | } | ||
| 42 | } | ||
| 43 | |||
| 44 |
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3732 | for (size_t obsType = 0; obsType < GnssObs::ObservationType_COUNT; obsType++) |
| 45 | { | ||
| 46 |
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2799 | nObservablesUniqueSatellite.at(obsType) = nMeasUniqueSat.at(obsType).size(); |
| 47 | } | ||
| 48 | |||
| 49 | #if LOG_LEVEL <= LOG_LEVEL_DATA | ||
| 50 | LOG_DATA("{}: systems: [{}]", nameId, fmt::join(systems, ", ")); | ||
| 51 | LOG_DATA("{}: satellites: [{}]", nameId, fmt::join(satellites, ", ")); | ||
| 52 | std::string observables; | ||
| 53 | std::string observablesUnique; | ||
| 54 | for (size_t obsType = 0; obsType < GnssObs::ObservationType_COUNT; obsType++) | ||
| 55 | { | ||
| 56 | observables += fmt::format("{} {}", nObservables.at(obsType), static_cast<GnssObs::ObservationType>(obsType)); | ||
| 57 | observablesUnique += fmt::format("{} {} [{}]", nObservablesUniqueSatellite.at(obsType), | ||
| 58 | static_cast<GnssObs::ObservationType>(obsType), fmt::join(nMeasUniqueSat.at(obsType), ", ")); | ||
| 59 | if (obsType < GnssObs::ObservationType_COUNT - 1) | ||
| 60 | { | ||
| 61 | observables += ", "; | ||
| 62 | observablesUnique += ", "; | ||
| 63 | } | ||
| 64 | } | ||
| 65 | LOG_DATA("{}: nObservables: {}", nameId, observables); | ||
| 66 | LOG_DATA("{}: nObservablesUniqueSatellite: {}", nameId, observablesUnique); | ||
| 67 | #endif | ||
| 68 | 933 | } | |
| 69 | |||
| 70 | ✗ | bool Observations::removeSignal(const SatSigId& satSigId, [[maybe_unused]] const std::string& nameId) | |
| 71 | { | ||
| 72 | ✗ | bool somethingRemoved = false; | |
| 73 | ✗ | if (signals.contains(satSigId)) | |
| 74 | { | ||
| 75 | LOG_DATA("{}: Erasing signal [{}]", nameId, satSigId); | ||
| 76 | ✗ | signals.erase(satSigId); | |
| 77 | ✗ | somethingRemoved = true; | |
| 78 | } | ||
| 79 | ✗ | if (somethingRemoved) { recalcObservableCounts(nameId); } | |
| 80 | ✗ | return somethingRemoved; | |
| 81 | } | ||
| 82 | |||
| 83 | ✗ | bool Observations::removeSignal(const SatSigId& satSigId, const GnssObs::ObservationType& obsType, [[maybe_unused]] const std::string& nameId) | |
| 84 | { | ||
| 85 | ✗ | bool somethingRemoved = false; | |
| 86 | ✗ | if (signals.contains(satSigId)) | |
| 87 | { | ||
| 88 | LOG_DATA("{}: Erasing signal [{}][{}]", nameId, satSigId, obsType); | ||
| 89 | ✗ | size_t emptyReceiver = 0; | |
| 90 | ✗ | for (auto& recvObs : signals.at(satSigId).recvObs) | |
| 91 | { | ||
| 92 | ✗ | if (recvObs.second->obs.contains(obsType)) | |
| 93 | { | ||
| 94 | ✗ | recvObs.second->obs.erase(obsType); | |
| 95 | } | ||
| 96 | ✗ | if (recvObs.second->obs.empty()) { emptyReceiver++; } | |
| 97 | } | ||
| 98 | ✗ | if (emptyReceiver == signals.at(satSigId).recvObs.size()) | |
| 99 | { | ||
| 100 | ✗ | signals.erase(satSigId); | |
| 101 | } | ||
| 102 | ✗ | somethingRemoved = true; | |
| 103 | } | ||
| 104 | ✗ | if (somethingRemoved) { recalcObservableCounts(nameId); } | |
| 105 | ✗ | return somethingRemoved; | |
| 106 | } | ||
| 107 | |||
| 108 | ✗ | bool Observations::removeSatellite(const SatId& satId, [[maybe_unused]] const std::string& nameId) | |
| 109 | { | ||
| 110 | ✗ | std::vector<SatSigId> toRemove; | |
| 111 | ✗ | for (const auto& signal : signals) | |
| 112 | { | ||
| 113 | ✗ | if (signal.first.toSatId() == satId) | |
| 114 | { | ||
| 115 | ✗ | toRemove.push_back(signal.first); | |
| 116 | } | ||
| 117 | } | ||
| 118 | ✗ | for (const auto& satSigId : toRemove) | |
| 119 | { | ||
| 120 | LOG_DATA("{}: Erasing signal [{}]", nameId, satSigId); | ||
| 121 | ✗ | signals.erase(satSigId); | |
| 122 | } | ||
| 123 | ✗ | if (!toRemove.empty()) { recalcObservableCounts(nameId); } | |
| 124 | ✗ | return !toRemove.empty(); | |
| 125 | ✗ | } | |
| 126 | |||
| 127 | ✗ | bool Observations::removeMeasurementsFor(const Code& code, const GnssObs::ObservationType& obsType, [[maybe_unused]] const std::string& nameId) | |
| 128 | { | ||
| 129 | LOG_DATA("{}: Searching observations to remove on [{}][{}]", nameId, code, obsType); | ||
| 130 | ✗ | bool somethingRemoved = false; | |
| 131 | ✗ | for (auto& [satSigId, sigObs] : signals) | |
| 132 | { | ||
| 133 | ✗ | if (satSigId.code != code) { continue; } | |
| 134 | |||
| 135 | ✗ | for (size_t i = 0; i < sigObs.recvObs.size(); i++) | |
| 136 | { | ||
| 137 | ✗ | if (!sigObs.recvObs.contains(i)) { continue; } | |
| 138 | ✗ | auto& recvObs = sigObs.recvObs.at(i); | |
| 139 | ✗ | if (recvObs->obs.contains(obsType)) | |
| 140 | { | ||
| 141 | ✗ | recvObs->obs.erase(obsType); | |
| 142 | LOG_DATA("{}: Erasing observation [{}][{}] of receiver '{}'", nameId, satSigId, obsType, i); | ||
| 143 | ✗ | somethingRemoved = true; | |
| 144 | } | ||
| 145 | } | ||
| 146 | } | ||
| 147 | ✗ | if (somethingRemoved) { recalcObservableCounts(nameId); } | |
| 148 | ✗ | return somethingRemoved; | |
| 149 | } | ||
| 150 | |||
| 151 | ✗ | bool Observations::removeObsType(const GnssObs::ObservationType& obsType, [[maybe_unused]] const std::string& nameId) | |
| 152 | { | ||
| 153 | LOG_DATA("{}: Searching observations to remove on [{}]", nameId, obsType); | ||
| 154 | ✗ | bool somethingRemoved = false; | |
| 155 | ✗ | for (auto& [satSigId, sigObs] : signals) | |
| 156 | { | ||
| 157 | ✗ | for (size_t i = 0; i < sigObs.recvObs.size(); i++) | |
| 158 | { | ||
| 159 | ✗ | if (!sigObs.recvObs.contains(i)) { continue; } | |
| 160 | ✗ | auto& recvObs = sigObs.recvObs.at(i); | |
| 161 | ✗ | if (recvObs->obs.contains(obsType)) | |
| 162 | { | ||
| 163 | ✗ | recvObs->obs.erase(obsType); | |
| 164 | LOG_DATA("{}: Erasing observation [{}][{}] of receiver '{}'", nameId, satSigId, obsType, i); | ||
| 165 | ✗ | somethingRemoved = true; | |
| 166 | } | ||
| 167 | } | ||
| 168 | } | ||
| 169 | ✗ | if (somethingRemoved) { recalcObservableCounts(nameId); } | |
| 170 | ✗ | return somethingRemoved; | |
| 171 | } | ||
| 172 | |||
| 173 | } // namespace NAV | ||
| 174 |