Add decoded HAS mmesages to the navigation message monitor

docs/protobuf/nav_message.proto

@@ -6,11 +6,12 @@ package gnss_sdr;
 
 message navMsg {
   string system = 1;  // GNSS constellation: "G" for GPS, "R" for Glonass, "E" for Galileo, and "C" for Beidou.
-  string signal = 2;  // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5, and "5X" for Galileo E5a
+  string signal = 2;  // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5, "5X" for Galileo E5a, and "E6" for Galileo E6B.
-  int32 prn = 3;      // SV ID
+  int32 prn = 3;      // SV ID.
   int32 tow_at_current_symbol_ms = 4;  // Time of week of the last symbol received, in ms
-  string nav_message = 5;  // for Galileo I/NAV: decoded half page (even or odd), 120 bits, as described in OS SIS ICD 2.0, paragraph 4.3.2.3. I/NAV Page Part
+  string nav_message = 5;  // for Galileo I/NAV: decoded half page (even or odd), 120 bits, as described in OS SIS ICD 2.0, paragraph 4.3.2.3. I/NAV Page Part.
-                           // for Galileo F/NAV: decoded word, 244 bits, as described in OS SIS ICD 2.0, paragraph 4.2.2. F/NAV Page Layout
+                           // for Galileo F/NAV: decoded word, 244 bits, as described in OS SIS ICD 2.0, paragraph 4.2.2. F/NAV Page Layout.
+                           // for Galileo HAS: decoded full HAS message (header + body), variable length, as described in Galileo HAS SIS ICD.
                            // For GPS LNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 20.3.2 Message Structure.
                            // For GPS CNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 30.3.3 Message Content.
 }

src/core/libs/galileo_e6_has_msg_receiver.cc

@@ -48,6 +48,8 @@ galileo_e6_has_msg_receiver::galileo_e6_has_msg_receiver() : gr::block("galileo_
 {
     // register Gal E6 HAS input message port from telemetry blocks
     this->message_port_register_in(pmt::mp("E6_HAS_from_TLM"));
+    // register nav message monitor out
+    this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
     this->set_msg_handler(pmt::mp("E6_HAS_from_TLM"),
 #if HAS_GENERIC_LAMBDA
         [this](auto&& PH1) { msg_handler_galileo_e6_has(PH1); });
@@ -64,6 +66,17 @@ galileo_e6_has_msg_receiver::galileo_e6_has_msg_receiver() : gr::block("galileo_
 
     // initialize Reed-Solomon decoder
     d_rs = std::make_unique<ReedSolomon>();
+
+    d_nav_msg_packet.system = std::string("E");
+    d_nav_msg_packet.signal = std::string("E6");
+    d_nav_msg_packet.prn = 0;
+    d_nav_msg_packet.tow_at_current_symbol_ms = 0;
+}
+
+
+void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
+{
+    d_enable_navdata_monitor = enable;
 }
 
 
@@ -178,6 +191,24 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
                 }
         }
 
+    if (erasure_positions.size() > 223)
+        {
+            // This should not happen! Maybe message_size < PID < 33 ?
+            // Don't even try to decode
+            std::string msg("Reed Solomon decoding of HAS message is not possible. Received PIDs:");
+            std::stringstream ss;
+            for (auto pid : d_received_pids[message_id])
+                {
+                    ss << " " << static_cast<float>(pid);
+                }
+            ss << ", Message size: " << static_cast<float>(message_size) << "  Message ID: " << static_cast<float>(message_id);
+            msg += ss.str();
+            LOG(ERROR) << msg;
+            d_received_pids[message_id].clear();
+            d_C_matrix[message_id] = {GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0)};
+            return -1;
+        }
+
     DLOG(INFO) << debug_print_vector("List of received PIDs", d_received_pids[message_id]);
     DLOG(INFO) << debug_print_vector("erasure_positions", erasure_positions);
     DLOG(INFO) << debug_print_matrix("d_C_matrix produced", d_C_matrix[message_id]);
@@ -235,6 +266,14 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
 
     // Trigger HAS message content reading and fill the d_HAS_data object
     d_HAS_data = Galileo_HAS_data();
+
+    if (d_enable_navdata_monitor)
+        {
+            d_nav_msg_packet.nav_message = decoded_message_type_1;
+            const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
+            this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
+        }
+
     read_MT1_header(decoded_message_type_1.substr(0, GALILEO_CNAV_MT1_HEADER_BITS));
     read_MT1_body(std::string(decoded_message_type_1.begin() + GALILEO_CNAV_MT1_HEADER_BITS, decoded_message_type_1.end()));
 

src/core/libs/galileo_e6_has_msg_receiver.h

@@ -23,6 +23,7 @@
 #include "Galileo_CNAV.h"
 #include "galileo_has_data.h"
 #include "gnss_block_interface.h"
+#include "nav_message_packet.h"
 #include <gnuradio/block.h>
 #include <pmt/pmt.h>
 #include <bitset>
@@ -55,6 +56,7 @@ class galileo_e6_has_msg_receiver : public gr::block
 {
 public:
     ~galileo_e6_has_msg_receiver() = default;  //!< Default destructor
+    void set_enable_navdata_monitor(bool enable);
 
 private:
     friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
@@ -64,6 +66,8 @@ private:
     void read_MT1_header(const std::string& message_header);
     void read_MT1_body(const std::string& message_body);
 
+    Nav_Message_Packet d_nav_msg_packet;
+
     int decode_message_type1(uint8_t message_id, uint8_t message_size);
     uint8_t read_has_message_header_parameter_uint8(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
     uint16_t read_has_message_header_parameter_uint16(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
@@ -84,6 +88,7 @@ private:
     std::vector<std::vector<uint8_t>> d_M_matrix{GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0)};                                                             // HAS message matrix 32 x 53
     std::vector<std::vector<uint8_t>> d_received_pids{32, std::vector<uint8_t>()};
     bool d_new_message{};
+    bool d_enable_navdata_monitor{};
 };
 
 

src/core/receiver/gnss_flowgraph.cc

@@ -1527,6 +1527,7 @@ int GNSSFlowgraph::connect_tracking_monitor()
     return 0;
 }
 
+
 int GNSSFlowgraph::connect_navdata_monitor()
 {
     try
@@ -1535,6 +1536,8 @@ int GNSSFlowgraph::connect_navdata_monitor()
                 {
                     top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("Nav_msg_from_TLM"), NavDataMonitor_, pmt::mp("Nav_msg_from_TLM"));
                 }
+            gal_e6_has_rx_->set_enable_navdata_monitor(true);
+            top_block_->msg_connect(gal_e6_has_rx_, pmt::mp("Nav_msg_from_TLM"), NavDataMonitor_, pmt::mp("Nav_msg_from_TLM"));
         }
     catch (const std::exception& e)
         {
@@ -1596,8 +1599,6 @@ int GNSSFlowgraph::connect_gal_e6_has()
             for (int i = 0; i < channels_count_; i++)
                 {
                     const std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str();
-                    std::string gnss_system;
-                    Gnss_Signal signal_value;
                     switch (mapStringValues_[gnss_signal])
                         {
                         case evGAL_E6:
@@ -1647,6 +1648,7 @@ int GNSSFlowgraph::disconnect_monitors()
                     if (enable_navdata_monitor_)
                         {
                             top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("Nav_msg_from_TLM"), NavDataMonitor_, pmt::mp("Nav_msg_from_TLM"));
+                            top_block_->msg_disconnect(gal_e6_has_rx_, pmt::mp("Nav_msg_from_TLM"), NavDataMonitor_, pmt::mp("Nav_msg_from_TLM"));
                         }
                 }
         }

src/utils/nav-listener/nav_message.proto

@@ -6,11 +6,12 @@ package gnss_sdr;
 
 message navMsg {
   string system = 1;  // GNSS constellation: "G" for GPS, "R" for Glonass, "E" for Galileo, and "C" for Beidou.
-  string signal = 2;  // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5, and "5X" for Galileo E5a
+  string signal = 2;  // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5, "5X" for Galileo E5a, and "E6" for Galileo E6B.
-  int32 prn = 3;      // SV ID
+  int32 prn = 3;      // SV ID.
   int32 tow_at_current_symbol_ms = 4;  // Time of week of the last symbol received, in ms
-  string nav_message = 5;  // for Galileo I/NAV: decoded half page (even or odd), 120 bits, as described in OS SIS ICD 2.0, paragraph 4.3.2.3. I/NAV Page Part
+  string nav_message = 5;  // for Galileo I/NAV: decoded half page (even or odd), 120 bits, as described in OS SIS ICD 2.0, paragraph 4.3.2.3. I/NAV Page Part.
-                           // for Galileo F/NAV: decoded word, 244 bits, as described in OS SIS ICD 2.0, paragraph 4.2.2. F/NAV Page Layout
+                           // for Galileo F/NAV: decoded word, 244 bits, as described in OS SIS ICD 2.0, paragraph 4.2.2. F/NAV Page Layout.
+                           // for Galileo HAS: decoded full HAS message (header + body), variable length, as described in Galileo HAS SIS ICD.
                            // For GPS LNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 20.3.2 Message Structure.
                            // For GPS CNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 30.3.3 Message Content.
 }

src/utils/nav-listener/nav_msg_udp_listener.cc

@@ -26,7 +26,7 @@ Nav_Msg_Udp_Listener::Nav_Msg_Udp_Listener(unsigned short port)
 
 bool Nav_Msg_Udp_Listener::read_nav_message(gnss_sdr::navMsg &message)
 {
-    char buff[1500];  // Buffer for storing the received data.
+    char buff[8192];  // Buffer for storing the received data.
 
     message_ = message;
     // This call will block until one or more bytes of data has been received.