gnss-sdr/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc

/*!
 * \file gps_l1_ca_dll_pll_tracking.cc
 * \brief Implementation of an adapter of a DLL+PLL tracking loop block
 * for GPS L1 C/A to a TrackingInterface
 * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
 *         Javier Arribas, 2011. jarribas(at)cttc.es
 *
 * Code DLL + carrier PLL according to the algorithms described in:
 * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
 * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
 * Approach, Birkhauser, 2007
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2018  (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 <https://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#include "dll_pll_conf.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "configuration_interface.h"
#include "GPS_L1_CA.h"
#include "gnss_sdr_flags.h"
#include "display.h"
#include <glog/logging.h>

using google::LogMessage;


GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
    ConfigurationInterface* configuration, std::string role,
    unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
    Dll_Pll_Conf trk_param = Dll_Pll_Conf();
    DLOG(INFO) << "role " << role;
    //################# CONFIGURATION PARAMETERS ########################
    std::string default_item_type = "gr_complex";
    std::string item_type = configuration->property(role + ".item_type", default_item_type);
    int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
    int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
    trk_param.fs_in = fs_in;
    trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
    if (configuration->property(role + ".smoother_length", 10) < 1)
        {
            trk_param.smoother_length = 1;
            std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
        }
    else
        {
            trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
        }
    bool dump = configuration->property(role + ".dump", false);
    trk_param.dump = dump;
    std::string default_dump_filename = "./track_ch";
    std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
    trk_param.dump_filename = dump_filename;
    bool dump_mat = configuration->property(role + ".dump_mat", true);
    trk_param.dump_mat = dump_mat;
    float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
    if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
    trk_param.pll_bw_hz = pll_bw_hz;
    float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
    trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
    float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
    trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
    float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
    if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
    trk_param.dll_bw_hz = dll_bw_hz;
    float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
    trk_param.early_late_space_chips = early_late_space_chips;
    float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
    trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
    int vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
    trk_param.vector_length = vector_length;
    int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
    if (symbols_extended_correlator < 1)
        {
            symbols_extended_correlator = 1;
            std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
        }
    else if (symbols_extended_correlator > 20)
        {
            symbols_extended_correlator = 20;
            std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
        }
    trk_param.extend_correlation_symbols = symbols_extended_correlator;
    bool track_pilot = configuration->property(role + ".track_pilot", false);
    if (track_pilot)
        {
            std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
        }
    if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
        {
            std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
        }
    trk_param.very_early_late_space_chips = 0.0;
    trk_param.very_early_late_space_narrow_chips = 0.0;
    trk_param.track_pilot = false;
    trk_param.system = 'G';
    char sig_[3] = "1C";
    std::memcpy(trk_param.signal, sig_, 3);
    int cn0_samples = configuration->property(role + ".cn0_samples", 20);
    if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
    trk_param.cn0_samples = cn0_samples;
    int cn0_min = configuration->property(role + ".cn0_min", 30);
    if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
    trk_param.cn0_min = cn0_min;
    int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
    if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
    trk_param.max_lock_fail = max_lock_fail;
    double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.80);
    if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
    trk_param.carrier_lock_th = carrier_lock_th;

    //################# MAKE TRACKING GNURadio object ###################
    if (item_type.compare("gr_complex") == 0)
        {
            item_size_ = sizeof(gr_complex);
            tracking_ = dll_pll_veml_make_tracking(trk_param);
        }
    else
        {
            item_size_ = sizeof(gr_complex);
            LOG(WARNING) << item_type << " unknown tracking item type.";
        }
    channel_ = 0;
    DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
    if (in_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one input stream";
        }
    if (out_streams_ > 1)
        {
            LOG(ERROR) << "This implementation only supports one output stream";
        }
}


GpsL1CaDllPllTracking::~GpsL1CaDllPllTracking() = default;


void GpsL1CaDllPllTracking::stop_tracking()
{
    tracking_->stop_tracking();
}


void GpsL1CaDllPllTracking::start_tracking()
{
    tracking_->start_tracking();
}


/*
 * Set tracking channel unique ID
 */
void GpsL1CaDllPllTracking::set_channel(unsigned int channel)
{
    channel_ = channel;
    tracking_->set_channel(channel);
}


void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
    tracking_->set_gnss_synchro(p_gnss_synchro);
}


void GpsL1CaDllPllTracking::connect(gr::top_block_sptr top_block)
{
    if (top_block)
        { /* top_block is not null */
        };
    //nothing to connect, now the tracking uses gr_sync_decimator
}


void GpsL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
{
    if (top_block)
        { /* top_block is not null */
        };
    //nothing to disconnect, now the tracking uses gr_sync_decimator
}


gr::basic_block_sptr GpsL1CaDllPllTracking::get_left_block()
{
    return tracking_;
}


gr::basic_block_sptr GpsL1CaDllPllTracking::get_right_block()
{
    return tracking_;
}