[hamradio-commits] [gnss-sdr] 241/303: PVT receiver time feedback to observables to account for the receiver clock offset. Prototype of observables unit test enabled
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:36:04 UTC 2017
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit 3da0807044e0549eab536cbea261b730f4e23430
Author: Javier Arribas <javiarribas at gmail.com>
Date: Wed Jan 25 17:15:32 2017 +0100
PVT receiver time feedback to observables to account for the receiver clock offset. Prototype of observables unit test enabled
---
.../PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc | 3 +
.../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc | 9 +
.../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 3 +
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 4 +-
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc | 4 +-
src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 4 +-
src/algorithms/PVT/libs/pvt_solution.cc | 2 +-
src/algorithms/PVT/libs/pvt_solution.h | 2 +-
.../gnuradio_blocks/galileo_e1_observables_cc.cc | 14 ++
.../gnuradio_blocks/galileo_e1_observables_cc.h | 2 +
.../gnuradio_blocks/gps_l1_ca_observables_cc.cc | 19 +-
.../gnuradio_blocks/gps_l1_ca_observables_cc.h | 3 +-
.../gnuradio_blocks/hybrid_observables_cc.cc | 14 ++
.../gnuradio_blocks/hybrid_observables_cc.h | 2 +
src/core/receiver/gnss_flowgraph.cc | 2 +
src/tests/test_main.cc | 3 +-
.../gps_l1_ca_telemetry_decoder_test.cc | 271 +++++++++++++++++++++
17 files changed, 350 insertions(+), 11 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
index 35e1478..28be90a 100644
--- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
@@ -123,6 +123,9 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1));
+ // Receiver time feedback to observables block
+ this->message_port_register_out(pmt::mp("rx_dt_s"));
+
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
index 44dbc4b..c16124e 100644
--- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
@@ -227,6 +227,9 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
this->set_msg_handler(pmt::mp("telemetry"),
boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
+ // Receiver time feedback to observables block
+ this->message_port_register_out(pmt::mp("rx_dt_s"));
+
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
@@ -373,6 +376,12 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
+ //feedback the receiver time offset estimation to observables block
+ // send asynchronous message to observables block
+ // time offset is expressed as the equivalent travel distance [m]
+ pmt::pmt_t value = pmt::from_double(d_ls_pvt->d_rx_dt_s);
+ this->message_port_pub(pmt::mp("rx_dt_s"), value);
+ //std::cout<<"d_rx_dt_s*GPS_C_m_s="<<d_ls_pvt->d_rx_dt_s*GPS_C_m_s<<std::endl;
if( first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index cf14524..fd0cf80 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -216,6 +216,9 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&hybrid_pvt_cc::msg_handler_telemetry, this, _1));
+ // Receiver time feedback to observables block
+ this->message_port_register_out(pmt::mp("rx_dt_s"));
+
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
index 7517cae..070503c 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
@@ -177,10 +177,10 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos;
cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
- d_rx_dt_m = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
+ d_rx_dt_s = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
compute_DOP();
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
index d888948..b5fe755 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -172,7 +172,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
cart2geo(static_cast<double>(mypos(0)), static_cast<double>(mypos(1)), static_cast<double>(mypos(2)), 4);
- d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
+ d_rx_dt_s = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
@@ -183,7 +183,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
compute_DOP();
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index ea16dbf..3629bac 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -276,7 +276,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "W=" << W;
mypos = leastSquarePos(satpos, obs, W);
- d_rx_dt_m = mypos(3) / GPS_C_m_s; // Convert RX time offset from meters to seconds
+ d_rx_dt_s = mypos(3) / GPS_C_m_s; // Convert RX time offset from meters to seconds
double secondsperweek = 604800.0;
// Compute GST and Gregorian time
if( GST != 0.0)
@@ -300,7 +300,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
- << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]";
+ << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
hybrid_ls_pvt::compute_DOP();
diff --git a/src/algorithms/PVT/libs/pvt_solution.cc b/src/algorithms/PVT/libs/pvt_solution.cc
index 8ae7076..d4312e0 100644
--- a/src/algorithms/PVT/libs/pvt_solution.cc
+++ b/src/algorithms/PVT/libs/pvt_solution.cc
@@ -57,7 +57,7 @@ Pvt_Solution::Pvt_Solution()
b_valid_position = false;
d_averaging_depth = 0;
d_valid_observations = 0;
- d_rx_dt_m = 0.0;
+ d_rx_dt_s = 0.0;
}
arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec & X_sat)
diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h
index 1825e6d..5f6d3a9 100644
--- a/src/algorithms/PVT/libs/pvt_solution.h
+++ b/src/algorithms/PVT/libs/pvt_solution.h
@@ -51,7 +51,7 @@ public:
double d_latitude_d; //!< RX position Latitude WGS84 [deg]
double d_longitude_d; //!< RX position Longitude WGS84 [deg]
double d_height_m; //!< RX position height WGS84 [m]
- double d_rx_dt_m; //!< RX time offset [s]
+ double d_rx_dt_s; //!< RX time offset [s]
boost::posix_time::ptime d_position_UTC_time;
diff --git a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc
index ed75b4c..faed78b 100644
--- a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc
@@ -56,10 +56,24 @@ galileo_e1_make_observables_cc(unsigned int nchannels, bool dump, std::string du
}
+void galileo_e1_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg)
+{
+ //pmt::print(msg);
+
+ d_rx_dt_s = pmt::to_double(msg);
+}
+
galileo_e1_observables_cc::galileo_e1_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("galileo_e1_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
+
+ // Telemetry bit synchronization message port input
+ this->message_port_register_in(pmt::mp("rx_dt_s"));
+
+ this->set_msg_handler(pmt::mp("rx_dt_s"),
+ boost::bind(&galileo_e1_observables_cc::msg_handler_rx_dt_s, this, _1));
+
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
diff --git a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h
index 1cb3ef4..4779099 100644
--- a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h
+++ b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h
@@ -61,6 +61,7 @@ private:
friend galileo_e1_observables_cc_sptr
galileo_e1_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
galileo_e1_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
+ void msg_handler_rx_dt_s(pmt::pmt_t msg);
//Tracking observable history
std::vector<std::deque<double>> d_acc_carrier_phase_queue_rads;
@@ -68,6 +69,7 @@ private:
std::vector<std::deque<double>> d_symbol_TOW_queue_s;
// class private vars
+ double d_rx_dt_s;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;
diff --git a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
index 4d61794..36afa76 100644
--- a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
@@ -57,6 +57,14 @@ gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, bool
gr::block("gps_l1_ca_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
+
+ // Telemetry bit synchronization message port input
+ this->message_port_register_in(pmt::mp("rx_dt_s"));
+
+ this->set_msg_handler(pmt::mp("rx_dt_s"),
+ boost::bind(&gps_l1_ca_observables_cc::msg_handler_rx_dt_s, this, _1));
+
+ d_rx_dt_s=0;
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
@@ -97,6 +105,14 @@ gps_l1_ca_observables_cc::~gps_l1_ca_observables_cc()
}
+void gps_l1_ca_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg)
+{
+ //pmt::print(msg);
+ //accumulate the receiver time offset
+ d_rx_dt_s = d_rx_dt_s+pmt::to_double(msg);
+}
+
+
bool pairCompare_gnss_synchro_Prn_delay_ms(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.Prn_timestamp_ms) < (b.second.Prn_timestamp_ms);
@@ -203,7 +219,8 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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 + GPS_STARTOFFSET_ms;
- pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
+ //convert to meters and remove the receiver time offset in meters
+ pseudorange_m = traveltime_ms * GPS_C_m_ms-d_rx_dt_s*GPS_C_m_s; // [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;
diff --git a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h
index 38a1e7f..387a926 100644
--- a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h
+++ b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h
@@ -61,7 +61,7 @@ private:
friend gps_l1_ca_observables_cc_sptr
gps_l1_ca_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
gps_l1_ca_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
-
+ void msg_handler_rx_dt_s(pmt::pmt_t msg);
//Tracking observable history
std::vector<std::deque<double>> d_acc_carrier_phase_queue_rads;
@@ -69,6 +69,7 @@ private:
std::vector<std::deque<double>> d_symbol_TOW_queue_s;
// class private vars
+ double d_rx_dt_s;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
index 9a88419..89a7fd9 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
@@ -55,10 +55,24 @@ hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_f
}
+void hybrid_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg)
+{
+ //pmt::print(msg);
+
+ d_rx_dt_s = pmt::to_double(msg);
+}
+
hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) :
gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
+
+ // Telemetry bit synchronization message port input
+ this->message_port_register_in(pmt::mp("rx_dt_s"));
+
+ this->set_msg_handler(pmt::mp("rx_dt_s"),
+ boost::bind(&hybrid_observables_cc::msg_handler_rx_dt_s, this, _1));
+
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
index 20154c7..ea916af 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
@@ -59,6 +59,7 @@ private:
friend hybrid_observables_cc_sptr
hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history);
+ void msg_handler_rx_dt_s(pmt::pmt_t msg);
//Tracking observable history
std::vector<std::deque<double>> d_acc_carrier_phase_queue_rads;
@@ -66,6 +67,7 @@ private:
std::vector<std::deque<double>> d_symbol_TOW_queue_s;
// class private vars
+ double d_rx_dt_s;
bool d_dump;
unsigned int d_nchannels;
unsigned int history_deep;
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 138140d..ecdaf4e 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -324,6 +324,8 @@ void GNSSFlowgraph::connect()
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
}
+ //asynchronous feedback of receiver time estimation from PVT to observables
+ top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("rx_dt_s"), observables_->get_right_block(), pmt::mp("rx_dt_s"));
}
catch (std::exception& e)
{
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 92b847c..c0c4123 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -114,7 +114,8 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
-//#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
#if CUDA_BLOCKS_TEST
diff --git a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
new file mode 100644
index 0000000..b32e809
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
@@ -0,0 +1,271 @@
+/*!
+ * \file gps_l1_ca_dll_pll_tracking_test.cc
+ * \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
+ * implementation based on some input parameters.
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2015 (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 <ctime>
+#include <iostream>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/analog/sig_source_c.h>
+#include <gnuradio/msg_queue.h>
+#include <gnuradio/blocks/interleaved_char_to_complex.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gtest/gtest.h>
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "tracking_interface.h"
+#include "telemetry_decoder_interface.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_synchro.h"
+#include "gps_l1_ca_telemetry_decoder.h"
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
+class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
+
+typedef boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx> GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr;
+
+GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
+
+class GpsL1CADllPllTelemetryDecoderTest_msg_rx : public gr::block
+{
+private:
+ friend GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
+ void msg_handler_events(pmt::pmt_t msg);
+ GpsL1CADllPllTelemetryDecoderTest_msg_rx();
+
+public:
+ int rx_message;
+ ~GpsL1CADllPllTelemetryDecoderTest_msg_rx(); //!< Default destructor
+
+};
+
+GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make()
+{
+ return GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_msg_rx());
+}
+
+void GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+ try
+ {
+ long int message = pmt::to_long(msg);
+ rx_message = message;
+ }
+ catch(boost::bad_any_cast& e)
+ {
+ LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+ rx_message = 0;
+ }
+}
+
+GpsL1CADllPllTelemetryDecoderTest_msg_rx::GpsL1CADllPllTelemetryDecoderTest_msg_rx() :
+ gr::block("GpsL1CADllPllTelemetryDecoderTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+ this->message_port_register_in(pmt::mp("events"));
+ this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events, this, _1));
+ rx_message = 0;
+}
+
+GpsL1CADllPllTelemetryDecoderTest_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES #########
+class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx;
+
+typedef boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx> GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr;
+
+GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
+
+class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx : public gr::block
+{
+private:
+ friend GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
+ void msg_handler_events(pmt::pmt_t msg);
+ GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx();
+
+public:
+ int rx_message;
+ ~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx(); //!< Default destructor
+
+};
+
+GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make()
+{
+ return GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx());
+}
+
+void GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+ try
+ {
+ long int message = pmt::to_long(msg);
+ rx_message = message;
+ }
+ catch(boost::bad_any_cast& e)
+ {
+ LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
+ rx_message = 0;
+ }
+}
+
+GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() :
+ gr::block("GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+ this->message_port_register_in(pmt::mp("events"));
+ this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events, this, _1));
+ rx_message = 0;
+}
+
+GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx()
+{}
+
+
+// ###########################################################
+
+
+class GpsL1CATelemetryDecoderTest: public ::testing::Test
+{
+protected:
+ GpsL1CATelemetryDecoderTest()
+ {
+ factory = std::make_shared<GNSSBlockFactory>();
+ config = std::make_shared<InMemoryConfiguration>();
+ item_size = sizeof(gr_complex);
+ gnss_synchro = Gnss_Synchro();
+ }
+
+ ~GpsL1CATelemetryDecoderTest()
+ {}
+
+ void init();
+
+ gr::msg_queue::sptr queue;
+ gr::top_block_sptr top_block;
+ std::shared_ptr<GNSSBlockFactory> factory;
+ std::shared_ptr<InMemoryConfiguration> config;
+ Gnss_Synchro gnss_synchro;
+ size_t item_size;
+};
+
+
+void GpsL1CATelemetryDecoderTest::init()
+{
+ gnss_synchro.Channel_ID = 0;
+ gnss_synchro.System = 'G';
+ std::string signal = "1C";
+ signal.copy(gnss_synchro.Signal, 2, 0);
+ gnss_synchro.PRN = 1;
+
+ config->set_property("GNSS-SDR.internal_fs_hz", "2600000");
+
+ // Set Tracking
+ config->set_property("Tracking_1C.item_type", "gr_complex");
+ config->set_property("Tracking_1C.if", "0");
+ config->set_property("Tracking_1C.dump", "true");
+ config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
+ config->set_property("Tracking_1C.pll_bw_hz", "30.0");
+ config->set_property("Tracking_1C.dll_bw_hz", "4.0");
+ config->set_property("Tracking_1C.early_late_space_chips", "0.5");
+
+ config->set_property("TelemetryDecoder_1C.dump","true");
+ config->set_property("TelemetryDecoder_1C.decimation_factor","1");
+
+}
+
+TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
+{
+ struct timeval tv;
+ long long int begin = 0;
+ long long int end = 0;
+ int fs_in = 2600000;
+
+ init();
+ queue = gr::msg_queue::make(0);
+ top_block = gr::make_top_block("Telemetry_Decoder test");
+ std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
+ boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx> msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
+
+ gnss_synchro.Acq_delay_samples = (1023-994.622/1023)*fs_in*1e-3;
+ gnss_synchro.Acq_doppler_hz = -2583.86;
+ gnss_synchro.Acq_samplestamp_samples = 0;
+
+ std::shared_ptr<TelemetryDecoderInterface> tlm(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C",1, 1));
+ boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx> tlm_msg_rx = GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
+
+ ASSERT_NO_THROW( {
+ tracking->set_channel(gnss_synchro.Channel_ID);
+ }) << "Failure setting channel." << std::endl;
+
+ ASSERT_NO_THROW( {
+ tracking->set_gnss_synchro(&gnss_synchro);
+ }) << "Failure setting gnss_synchro." << std::endl;
+
+ ASSERT_NO_THROW( {
+ tracking->connect(top_block);
+ }) << "Failure connecting tracking to the top_block." << std::endl;
+
+ ASSERT_NO_THROW( {
+ std::string path = std::string(TEST_PATH);
+ std::string file = path + "data/gps_l1ca_prn1_2.6msps.dat";
+ const char * file_name = file.c_str();
+ gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
+ //boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
+ gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
+ gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
+ top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
+ //top_block->connect(gr_interleaved_char_to_complex, 0, valve, 0);
+ top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
+ top_block->connect(tracking->get_right_block(), 0, sink, 0);
+ top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
+ }) << "Failure connecting the blocks of tracking test." << std::endl;
+
+ tracking->start_tracking();
+
+ EXPECT_NO_THROW( {
+ gettimeofday(&tv, NULL);
+ begin = tv.tv_sec *1000000 + tv.tv_usec;
+ top_block->run(); // Start threads and wait
+ gettimeofday(&tv, NULL);
+ end = tv.tv_sec *1000000 + tv.tv_usec;
+ }) << "Failure running the top_block." << std::endl;
+
+ // TODO: Verify tracking results
+ std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
+}
+
--
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