[hamradio-commits] [gnss-sdr] 185/303: Embed the whole system in a test
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:35:59 UTC 2017
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carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit 211b7b34c04d905d1780afa209a82c68a8b85468
Author: Carles Fernandez <carlesfernandez at gmail.com>
Date: Wed Dec 21 14:21:52 2016 +0100
Embed the whole system in a test
---
src/tests/CMakeLists.txt | 7 +
src/tests/system-tests/trk_system_test.cc | 300 +++++++++++++++++++++++++++++-
2 files changed, 297 insertions(+), 10 deletions(-)
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 74e6556..d461136 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -151,6 +151,8 @@ if(ENABLE_SW_GENERATOR)
set(SW_GENERATOR_BIN ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim)
add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
+ add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
+
endif(ENABLE_SW_GENERATOR)
add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/src/tests/")
@@ -460,6 +462,11 @@ if(ENABLE_SYSTEM_TESTING)
else(NOT ${GTEST_DIR_LOCAL})
add_dependencies(trk_system_test gtest)
endif(NOT ${GTEST_DIR_LOCAL})
+ target_link_libraries(trk_system_test ${GFlags_LIBS}
+ ${GLOG_LIBRARIES}
+ ${GTEST_LIBRARIES}
+ gnss_sp_libs
+ gnss_rx)
add_custom_command(TARGET trk_system_test POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:trk_system_test>
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:trk_system_test>
diff --git a/src/tests/system-tests/trk_system_test.cc b/src/tests/system-tests/trk_system_test.cc
index 70898c4..51e120e 100644
--- a/src/tests/system-tests/trk_system_test.cc
+++ b/src/tests/system-tests/trk_system_test.cc
@@ -3,35 +3,315 @@
#include <unistd.h>
#include <sys/wait.h>
#include <exception>
-//#include <gflags/gflags.h>
-//#include <glog/logging.h>
-//include <gtest/gtest.h>
+#include <gflags/gflags.h>
+#include <glog/logging.h>
+#include <gtest/gtest.h>
+#include "control_thread.h"
+#include "concurrent_map.h"
+#include "concurrent_queue.h"
+#include "in_memory_configuration.h"
+// For GPS NAVIGATION (L1)
+concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
+concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
+class Trk_System_Test: public ::testing::Test
+{
+public:
+ std::string generator_binary;
+ std::string p1;
+ std::string p2_static;
+ std::string p2_dynamic;
+ std::string p3;
+ std::string p4;
+ std::string p5;
+
+ const int baseband_sampling_freq = 2.6e6;
+
+ std::string filename_rinex_obs = "sim.16o";
+ std::string filename_raw_data = "signal_out.bin";
+
+ int configure_generator();
+ int generate_signal();
+ int configure_receiver();
+ int run_receiver();
+ int check_results();
+
+ std::shared_ptr<InMemoryConfiguration> config;
+};
+
+int Trk_System_Test::configure_generator()
+{
+ // Configure signal
+ generator_binary = std::string(SW_GENERATOR_BIN);
+ p1 = std::string("-rinex_nav_file=") + std::string(DEFAULT_RINEX_NAV);
+ p2_static = std::string("-static_position=30.286502,120.032669,100,1000");
+ p2_dynamic = std::string("-obs_pos_file=") + std::string(DEFAULT_POSITION_FILE); // Observer positions file, in .csv or .nmea format"
+ p3 = std::string("-rinex_obs_file=") + filename_rinex_obs; // RINEX 2.10 observation file output
+ p4 = std::string("-sig_out_file=") + filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
+ p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
+ return 0;
+}
-int main()
+int Trk_System_Test::generate_signal()
{
pid_t wait_result;
int child_status;
- // Configure signal
- std::string str = std::string(SW_GENERATOR_BIN);
- std::string p1 = std::string("-rinex_nav_file=") + std::string(DEFAULT_RINEX_NAV);
- std::string p2 = std::string("-static_position=30.286502,120.032669,100,40");
+ char *const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2_static[0], &p3[0], &p4[0], &p5[0], NULL };
- char *const parmList[] = { &str[0], &str[0], &p1[0], &p2[0], NULL };
int pid;
if ((pid = fork()) == -1)
perror("fork error");
else if (pid == 0)
{
- execv(&str[0], parmList);
+ execv(&generator_binary[0], parmList);
std::cout << "Return not expected. Must be an execv error." << std::endl;
std::terminate();
}
wait_result = waitpid(pid, &child_status, 0);
std::cout << "Signal and Observables RINEX files created." << std::endl;
+ return 0;
+}
+
+int Trk_System_Test::configure_receiver()
+{
+ config = std::make_shared<InMemoryConfiguration>();
+
+ const double central_freq = 1575420000.0;
+ const int sampling_rate_internal = baseband_sampling_freq;
+ const double gain_dB = 40.0;
+
+ const int number_of_taps = 11;
+ const int number_of_bands = 2;
+ const float band1_begin = 0.0;
+ const float band1_end = 0.48;
+ const float band2_begin = 0.52;
+ const float band2_end = 1.0;
+ const float ampl1_begin = 1.0;
+ const float ampl1_end = 1.0;
+ const float ampl2_begin = 0.0;
+ const float ampl2_end = 0.0;
+ const float band1_error = 1.0;
+ const float band2_error = 1.0;
+ const int grid_density = 16;
+ const int decimation_factor = 1;
+
+ const float zero = 0.0;
+ const int number_of_channels = 8;
+ const int in_acquisition = 1;
+
+ const float threshold = 0.01;
+ const float doppler_max = 8000.0;
+ const float doppler_step = 500.0;
+ const int max_dwells = 1;
+ const int tong_init_val = 2;
+ const int tong_max_val = 10;
+ const int tong_max_dwells = 30;
+ const int coherent_integration_time_ms = 1;
+
+ const float pll_bw_hz = 30.0;
+ const float dll_bw_hz = 4.0;
+ const float early_late_space_chips = 0.5;
+
+ const int display_rate_ms = 500;
+ const int output_rate_ms = 100;
+ const int averaging_depth = 10;
+
+ bool false_bool = false;
+
+ config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(sampling_rate_internal));
+
+ // Set the assistance system parameters
+ config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
+ config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
+ config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
+ config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
+ config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
+ config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
+ config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
+ config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
+ config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
+ config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
+
+ // Set the Signal Source
+ config->set_property("SignalSource.implementation", "File_Signal_Source");
+ config->set_property("SignalSource.filename", "./" + filename_raw_data);
+ config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
+ config->set_property("SignalSource.item_type", "ibyte");
+ config->set_property("SignalSource.samples", std::to_string(zero));
+
+ // Set the Signal Conditioner
+ config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
+ config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
+ config->set_property("InputFilter.implementation", "Fir_Filter");
+ config->set_property("InputFilter.dump", "false");
+ config->set_property("InputFilter.input_item_type", "gr_complex");
+ config->set_property("InputFilter.output_item_type", "gr_complex");
+ config->set_property("InputFilter.taps_item_type", "float");
+ config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
+ config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
+ config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
+ config->set_property("InputFilter.band1_end", std::to_string(band1_end));
+ config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
+ config->set_property("InputFilter.band2_end", std::to_string(band2_end));
+ config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
+ config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
+ config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
+ config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
+ config->set_property("InputFilter.band1_error", std::to_string(band1_error));
+ config->set_property("InputFilter.band2_error", std::to_string(band2_error));
+ config->set_property("InputFilter.filter_type", "bandpass");
+ config->set_property("InputFilter.grid_density", std::to_string(grid_density));
+ config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
+ config->set_property("InputFilter.IF", std::to_string(zero));
+ config->set_property("Resampler.implementation", "Pass_Through");
+ config->set_property("Resampler.dump", "false");
+ config->set_property("Resampler.item_type", "gr_complex");
+ config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
+ config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
+
+ // Set the number of Channels
+ config->set_property("Channels_1C.count", std::to_string(number_of_channels));
+ config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
+ config->set_property("Channel.signal", "1C");
+
+ // Set Acquisition
+ config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
+ config->set_property("Acquisition_1C.item_type", "gr_complex");
+ config->set_property("Acquisition_1C.if", std::to_string(zero));
+ config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
+ config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
+ config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
+ config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
+ config->set_property("Acquisition_1C.bit_transition_flag", "false");
+ config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
+ config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
+ config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
+ config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
+
+ // Set Tracking
+ config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
+ config->set_property("Tracking_1C.item_type", "gr_complex");
+ config->set_property("Tracking_1C.if", std::to_string(zero));
+ config->set_property("Tracking_1C.dump", "false");
+ config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
+ config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
+ config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
+ config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
+
+ // Set Telemetry
+ config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
+ config->set_property("TelemetryDecoder_1C.dump", "false");
+ config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor));
+
+ // Set Observables
+ config->set_property("Observables.implementation", "GPS_L1_CA_Observables");
+ config->set_property("Observables.dump", "false");
+ config->set_property("Observables.dump_filename", "./observables.dat");
+
+ // Set PVT
+ config->set_property("PVT.implementation", "GPS_L1_CA_PVT");
+ config->set_property("PVT.averaging_depth", std::to_string(averaging_depth));
+ config->set_property("PVT.flag_averaging", "true");
+ config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
+ config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
+ config->set_property("PVT.dump_filename", "./PVT");
+ config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
+ config->set_property("PVT.flag_nmea_tty_port", "false");
+ config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
+ config->set_property("PVT.flag_rtcm_server", "false");
+ config->set_property("PVT.flag_rtcm_tty_port", "false");
+ config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
+ config->set_property("PVT.dump", "false");
+
+ return 0;
+}
+
+int Trk_System_Test::run_receiver()
+{
+ std::shared_ptr<ControlThread> control_thread;
+ control_thread = std::make_shared<ControlThread>(config);
+ // start receiver
+ try
+ {
+ control_thread->run();
+ }
+ catch( boost::exception & e )
+ {
+ std::cout << "Boost exception: " << boost::diagnostic_information(e);
+ }
+ catch(std::exception const& ex)
+ {
+ std::cout << "STD exception: " << ex.what();
+ }
+ return 0;
+}
+
+int Trk_System_Test::check_results()
+{
+ // Open reference RINEX observables file
+
+ // Open generated RINEX observables file
+
+ // Read reference pseudoranges from a given satellite
+
+ // Read obtained pseudoranges from a given satellite
+
+ // Compute pseudorange error
+
+ // Read reference carrier phase from a given satellite
+
+ // Read obtained carrier phase from a given satellite
+
+ // Compute carrier phase error
return 0;
}
+
+
+TEST_F(Trk_System_Test, Tracking_system_test)
+{
+ // Configure the signal generator
+ configure_generator();
+
+ // Generate signal raw signal samples and observations RINEX file
+ generate_signal();
+
+ // Configure receiver
+ configure_receiver();
+
+ // Run the receiver
+ run_receiver();
+
+ // Check results
+ check_results();
+}
+
+
+int main(int argc, char **argv)
+{
+ std::cout << "Running Tracking validation test..." << std::endl;
+ int res = 0;
+ try
+ {
+ testing::InitGoogleTest(&argc, argv);
+ }
+ catch(...) {} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
+
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ // Run the Tests
+ try
+ {
+ res = RUN_ALL_TESTS();
+ }
+ catch(...)
+ {
+ LOG(WARNING) << "Unexpected catch";
+ }
+ google::ShutDownCommandLineFlags();
+ return res;
+}
--
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