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Merge branch 'next' of git+ssh://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez
2016-04-22 18:41:24 +02:00
parent cb8dd1c00d 60b6b98c52
commit 0f2a08f49d
48 changed files with 640 additions and 2759 deletions
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1
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@@ -78,6 +78,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

1
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@@ -62,6 +62,7 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

5
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
View File

@@ -76,7 +76,6 @@ pcps_acquisition_cc::pcps_acquisition_cc(
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;
//d_queue = queue;
d_freq = freq;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
@@ -447,15 +446,12 @@ int pcps_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
break;
}
@@ -478,7 +474,6 @@ int pcps_acquisition_cc::general_work(int noutput_items,
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
break;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@@ -65,6 +65,7 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_queue = queue;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
View File

@@ -69,6 +69,7 @@ pcps_acquisition_sc::pcps_acquisition_sc(
gr::io_signature::make(1, 1, sizeof(lv_16sc_t) * sampled_ms * samples_per_ms * ( bit_transition_flag ? 2 : 1 )),
gr::io_signature::make(0, 0, 0))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@@ -66,6 +66,7 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_queue = queue;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@@ -70,6 +70,7 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_multithread_acquisition_cc.cc
View File

@@ -70,6 +70,7 @@ pcps_multithread_acquisition_cc::pcps_multithread_acquisition_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@@ -90,6 +90,7 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

3
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@@ -73,8 +73,7 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
gr::io_signature::make(1, 1, (sizeof(gr_complex)*sampled_ms * samples_per_ms )),
gr::io_signature::make(0, 0, (sizeof(gr_complex)*sampled_ms * samples_per_ms )))
{
//DLOG(INFO) << "START CONSTRUCTOR";
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@@ -81,6 +81,7 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;

3
src/algorithms/channel/adapters/channel.cc
View File

@@ -94,7 +94,8 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
channel_fsm_.set_queue(queue_);
connected_ = false;
gnss_signal_ = Gnss_Signal();
gnss_signal_ = Gnss_Signal(implementation_);
chennel_msg_rx= channel_msg_receiver_make_cc(&channel_fsm_, repeat_);

3
src/algorithms/channel/libs/CMakeLists.txt
View File

@@ -37,3 +37,6 @@ file(GLOB CHANNEL_FSM_HEADERS "*.h")
add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
add_dependencies(channel_fsm glog-${glog_RELEASE})
target_link_libraries(channel_fsm gnss_rx)

15
src/algorithms/channel/libs/channel_fsm.cc
View File

@@ -81,6 +81,10 @@ public:
//std::cout << "Enter Channel_Acq_S1 " << std::endl;
context<ChannelFsm> ().start_acquisition();
}
~channel_acquiring_fsm_S1()
{
//std::cout << "Exit Channel_Acq_S1 " << std::endl;
}
};
@@ -145,6 +149,7 @@ ChannelFsm::ChannelFsm(AcquisitionInterface *acquisition) :
void ChannelFsm::Event_start_acquisition()
{
this->process_event(Ev_channel_start_acquisition());
//std::cout<<"Ev_channel_start_acquisition launched"<<std::endl;
}
@@ -202,16 +207,6 @@ void ChannelFsm::start_acquisition()
void ChannelFsm::start_tracking()
{
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
//<< " passing prn code phase " << acq_->prn_code_phase();
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
//<< " passing doppler freq shift " << acq_->doppler_freq_shift();
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
//<< " passing acquisition sample stamp "
//<< acq_->get_sample_stamp();
//trk_->set_prn_code_phase(acq_->prn_code_phase());
//trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
trk_->start_tracking();
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (queue_ != gr::msg_queue::make())

1
src/algorithms/observables/adapters/CMakeLists.txt
View File

@@ -20,7 +20,6 @@ set(OBS_ADAPTER_SOURCES
gps_l1_ca_observables.cc
galileo_e1_observables.cc
hybrid_observables.cc
mixed_observables.cc
)
include_directories(

89
src/algorithms/observables/adapters/mixed_observables.cc
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@@ -1,89 +0,0 @@
/*!
* \file mixed_observables.cc
* \brief Implementation of an adapter of a mixed observables block (muti-frequency and multi-system)
* to a ObservablesInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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 "mixed_observables.h"
#include "configuration_interface.h"
#include <glog/logging.h>
using google::LogMessage;
MixedObservables::MixedObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
int output_rate_ms;
output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
std::string default_dump_filename = "./observables.dat";
DLOG(INFO) << "role " << role;
bool flag_averaging;
flag_averaging = configuration->property(role + ".flag_averaging", false);
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
observables_ = mixed_make_observables_cc(in_streams_, dump_, dump_filename_, output_rate_ms, flag_averaging);
DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
}
MixedObservables::~MixedObservables()
{}
void MixedObservables::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void MixedObservables::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr MixedObservables::get_left_block()
{
return observables_;
}
gr::basic_block_sptr MixedObservables::get_right_block()
{
return observables_;
}

88
src/algorithms/observables/adapters/mixed_observables.h
View File

@@ -1,88 +0,0 @@
/*!
* \file mixed_observables.h
* \brief Implementation of an adapter of a mixed observables block (muti-frequency and multi-system)
* to a ObservablesInterface
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_MIXED_OBSERVABLES_H_
#define GNSS_SDR_MIXED_OBSERVABLES_H_
#include <string>
#include "observables_interface.h"
#include "mixed_observables_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements an ObservablesInterface for mixed observables block (muti-frequency and multi-system)
*/
class MixedObservables : public ObservablesInterface
{
public:
MixedObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~MixedObservables();
std::string role()
{
return role_;
}
//! Returns "Mixed_Observables"
std::string implementation()
{
return "Mixed_Observables";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
}
//! All blocks must have an item_size() function implementation
size_t item_size()
{
return sizeof(gr_complex);
}
private:
mixed_observables_cc_sptr observables_;
bool dump_;
//unsigned int fs_in_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
};
#endif

1
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
View File

@@ -20,7 +20,6 @@ set(OBS_GR_BLOCKS_SOURCES
gps_l1_ca_observables_cc.cc
galileo_e1_observables_cc.cc
hybrid_observables_cc.cc
mixed_observables_cc.cc
)
include_directories(

221
src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc
View File

@@ -1,221 +0,0 @@
/*!
* \file mixed_observables_cc.cc
* \brief Implementation of the pseudorange computation block for MIXED observables (Multi-frequency and Multi-system)
* \author Javier Arribas, 2015. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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 "mixed_observables_cc.h"
#include <algorithm>
#include <cmath>
#include <iostream>
#include <map>
#include <vector>
#include <utility>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "control_message_factory.h"
#include "gnss_synchro.h"
#include "GPS_L1_CA.h"
using google::LogMessage;
mixed_observables_cc_sptr
mixed_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging)
{
return mixed_observables_cc_sptr(new mixed_observables_cc(nchannels, dump, dump_filename, output_rate_ms, flag_averaging));
}
mixed_observables_cc::mixed_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
gr::block("mixed_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_dump = dump;
d_nchannels = nchannels;
d_output_rate_ms = output_rate_ms;
d_dump_filename = dump_filename;
d_flag_averaging = flag_averaging;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening observables dump file " << e.what() << std::endl;
}
}
}
}
mixed_observables_cc::~mixed_observables_cc()
{
d_dump_file.close();
}
bool MixedPairCompare_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);
}
bool MixedPairCompare_gnss_synchro_d_TOW_at_current_symbol(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.d_TOW_at_current_symbol) < (b.second.d_TOW_at_current_symbol);
}
int mixed_observables_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; // Get the output pointer
Gnss_Synchro current_gnss_synchro[d_nchannels];
std::map<int,Gnss_Synchro> current_gnss_synchro_map;
std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter;
if (d_nchannels != ninput_items.size())
{
LOG(WARNING) << "The Observables block is not well connected";
}
/*
* 1. Read the GNSS SYNCHRO objects from available channels
*/
for (unsigned int i = 0; i < d_nchannels; i++)
{
//Copy the telemetry decoder data to local copy
current_gnss_synchro[i] = in[i][0];
/*
* 1.2 Assume no valid pseudoranges
*/
current_gnss_synchro[i].Flag_valid_pseudorange = false;
current_gnss_synchro[i].Pseudorange_m = 0.0;
if(current_gnss_synchro[i].Signal[0] == '2')
{
if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
{
//record the word structure in a map for pseudorange computation
current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
}
}
/*
* 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
*/
// if(current_gnss_synchro_map.size() > 0)
// {
// /*
// * 2.1 Use CURRENT set of measurements and find the nearest satellite
// * common RX time algorithm
// */
// // what is the most recent symbol TOW in the current set? -> this will be the reference symbol
// gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), MixedPairCompare_gnss_synchro_d_TOW_at_current_symbol);
// double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
// double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
// //int reference_channel= gnss_synchro_iter->second.Channel_ID;
//
// // Now compute RX time differences due to the PRN alignment in the correlators
// double traveltime_ms;
// double pseudorange_m;
// double delta_rx_time_ms;
// for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
// {
// // compute the required symbol history shift in order to match the reference symbol
// 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]
// // 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;
// current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
// current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000)/1000 + GPS_STARTOFFSET_ms/1000.0;
// std::cout<<"Pseudorange_m="<<current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m<<std::endl;
// std::cout<<"Signal="<<current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Signal<<std::endl;
// }
// }
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true);
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].PRN;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = (double)(current_gnss_synchro[i].Flag_valid_symbol_output==true);
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Prompt_I;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_gnss_synchro[i].Prompt_Q;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what() << std::endl;
}
}
consume_each(1); //one by one
for (unsigned int i = 0; i < d_nchannels; i++)
{
*out[i] = current_gnss_synchro[i];
}
if (noutput_items == 0)
{
LOG(WARNING) << "noutput_items = 0";
}
return 1;
}

70
src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.h
View File

@@ -1,70 +0,0 @@
/*!
* \file mixed_observables_cc.h
* \brief Interface of the pseudorange computation block for MIXED observables (Multi-frequency and Multi-system)
* \author Javier Arribas, 2015. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (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/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_MIXED_OBSERVABLES_CC_H_
#define GNSS_SDR_MIXED_OBSERVABLES_CC_H_
#include <fstream>
#include <string>
#include <gnuradio/block.h>
class mixed_observables_cc;
typedef boost::shared_ptr<mixed_observables_cc> mixed_observables_cc_sptr;
mixed_observables_cc_sptr
mixed_make_observables_cc(unsigned int n_channels, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
/*!
* \brief This class implements a block that computes MIXED observables (Multi-frequency and Multi-system)
*/
class mixed_observables_cc : public gr::block
{
public:
~mixed_observables_cc ();
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
private:
friend mixed_observables_cc_sptr
mixed_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
mixed_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
// class private vars
bool d_dump;
bool d_flag_averaging;
unsigned int d_nchannels;
int d_output_rate_ms;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
View File

@@ -463,8 +463,6 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
current_synchro_data.Flag_valid_word = false;
}
DLOG(INFO) << "delta_t = " << delta_t;
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol - delta_t; //delta_t = t_gal - t_gps ----> t_gps = t_gal -delta_t

425
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@@ -71,7 +71,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
// set the preamble
unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
//memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
// preamble bits to sampled symbols
d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
@@ -80,7 +80,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
{
for (unsigned int j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
{
if (d_preambles_bits[i] == 1)
if (preambles_bits[i] == 1)
{
d_preambles_symbols[n] = 1;
}
@@ -158,7 +158,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
{
if (in[0][i].Flag_valid_symbol_output == true)
{
if (in[0][i].Prompt_I < 0) // symbols clipping
if (in[0][i].Prompt_I < 0) // symbols clipping
{
corr_value -= d_preambles_symbols[i] * in[0][i].correlation_length_ms;
}
@@ -174,14 +174,15 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
//******* frame sync ******************
if (abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
{
//TODO: Rewrite with state machine
if (d_stat == 0)
{
d_GPS_FSM.Event_gps_word_preamble();
//record the preamble sample stamp
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the preamble sample stamp
DLOG(INFO) << "Preamble detection for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
DLOG(INFO) << "Preamble detection for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
//sync the symbol to bits integrator
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
d_symbol_accumulator = 0; d_symbol_accumulator_counter = 0;
d_frame_bit_index = 0;
d_stat = 1; // enter into frame pre-detection status
}
@@ -190,10 +191,11 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
preamble_diff_ms = round((in[0][0].Tracking_timestamp_secs - d_preamble_time_seconds) * 1000.0);
if (abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1)
{
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the PRN start sample index associated to the preamble
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
// send asynchronous message to tracking to inform of frame sync and extend correlation time
@@ -212,21 +214,24 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
}
}
else
}
}
else
{
if (d_stat == 1)
{
preamble_diff_ms = round((in[0][0].Tracking_timestamp_secs - d_preamble_time_seconds) * 1000.0);
if (preamble_diff_ms > GPS_SUBFRAME_MS+1)
{
if (preamble_diff_ms > GPS_SUBFRAME_MS + 1)
{
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff_ms= " << preamble_diff_ms;
d_stat = 0; // lost of frame sync
d_flag_frame_sync = false;
flag_TOW_set = false;
}
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms;
d_stat = 0; //lost of frame sync
d_flag_frame_sync = false;
flag_TOW_set = false;
}
}
}
//******* SYMBOL TO BIT *******
if (in[0][0].Flag_valid_symbol_output == true)
{
// extended correlation to bit period is enabled in tracking!
@@ -234,207 +239,207 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
d_symbol_accumulator_counter += in[0][0].correlation_length_ms;
}
if (d_symbol_accumulator_counter >= 20)
{
if (d_symbol_accumulator > 0)
{ //symbol to bit
d_GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
}
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
//******* bits to words ******
d_frame_bit_index++;
if (d_frame_bit_index == 30)
{
d_frame_bit_index = 0;
// parity check
// Each word in wordbuff is composed of:
// Bits 0 to 29 = the GPS data word
// Bits 30 to 31 = 2 LSBs of the GPS word ahead.
// prepare the extended frame [-2 -1 0 ... 30]
if (d_prev_GPS_frame_4bytes & 0x00000001)
{
d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x40000000;
}
if (d_prev_GPS_frame_4bytes & 0x00000002)
{
d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x80000000;
}
/* Check that the 2 most recently logged words pass parity. Have to first
invert the data bits according to bit 30 of the previous word. */
if(d_GPS_frame_4bytes & 0x40000000)
{
d_GPS_frame_4bytes ^= 0x3FFFFFC0; // invert the data bits (using XOR)
}
if (gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(d_GPS_frame_4bytes))
{
memcpy(&d_GPS_FSM.d_GPS_frame_4bytes, &d_GPS_frame_4bytes, sizeof(char)*4);
d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
d_GPS_FSM.Event_gps_word_valid();
// send TLM data to PVT using asynchronous message queues
if (d_GPS_FSM.d_flag_new_subframe == true)
{
switch (d_GPS_FSM.d_subframe_ID)
{
case 3: //we have a new set of ephemeris data for the current SV
if (d_GPS_FSM.d_nav.satellite_validation() == true)
{
// get ephemeris object for this SV (mandatory)
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_GPS_FSM.d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
break;
case 4: // Possible IONOSPHERE and UTC model update (page 18)
if (d_GPS_FSM.d_nav.flag_iono_valid == true)
{
std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>( d_GPS_FSM.d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_GPS_FSM.d_nav.flag_utc_model_valid == true)
{
std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(d_GPS_FSM.d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
break;
case 5:
// get almanac (if available)
//TODO: implement almanac reader in navigation_message
break;
default:
break;
}
d_GPS_FSM.clear_flag_new_subframe();
}
{
if (d_symbol_accumulator > 0)
{ //symbol to bit
d_GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
}
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
//******* bits to words ******
d_frame_bit_index++;
if (d_frame_bit_index == 30)
{
d_frame_bit_index = 0;
// parity check
// Each word in wordbuff is composed of:
// Bits 0 to 29 = the GPS data word
// Bits 30 to 31 = 2 LSBs of the GPS word ahead.
// prepare the extended frame [-2 -1 0 ... 30]
if (d_prev_GPS_frame_4bytes & 0x00000001)
{
d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x40000000;
}
if (d_prev_GPS_frame_4bytes & 0x00000002)
{
d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x80000000;
}
/* Check that the 2 most recently logged words pass parity. Have to first
invert the data bits according to bit 30 of the previous word. */
if(d_GPS_frame_4bytes & 0x40000000)
{
d_GPS_frame_4bytes ^= 0x3FFFFFC0; // invert the data bits (using XOR)
}
if (gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(d_GPS_frame_4bytes))
{
memcpy(&d_GPS_FSM.d_GPS_frame_4bytes, &d_GPS_frame_4bytes, sizeof(char)*4);
d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
d_GPS_FSM.Event_gps_word_valid();
// send TLM data to PVT using asynchronous message queues
if (d_GPS_FSM.d_flag_new_subframe == true)
{
switch (d_GPS_FSM.d_subframe_ID)
{
case 3: //we have a new set of ephemeris data for the current SV
if (d_GPS_FSM.d_nav.satellite_validation() == true)
{
// get ephemeris object for this SV (mandatory)
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_GPS_FSM.d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
break;
case 4: // Possible IONOSPHERE and UTC model update (page 18)
if (d_GPS_FSM.d_nav.flag_iono_valid == true)
{
std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>( d_GPS_FSM.d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_GPS_FSM.d_nav.flag_utc_model_valid == true)
{
std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(d_GPS_FSM.d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
break;
case 5:
// get almanac (if available)
//TODO: implement almanac reader in navigation_message
break;
default:
break;
}
d_GPS_FSM.clear_flag_new_subframe();
}
d_flag_parity = true;
}
else
{
d_GPS_FSM.Event_gps_word_invalid();
d_flag_parity = false;
}
d_prev_GPS_frame_4bytes = d_GPS_frame_4bytes; // save the actual frame
d_GPS_frame_4bytes = d_GPS_frame_4bytes & 0;
}
else
{
d_GPS_frame_4bytes <<= 1; //shift 1 bit left the telemetry word
}
}
// output the frame
consume_each(1); //one by one
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
//update TOW at the preamble instant (todo: check for valid d_TOW)
// JAVI: 30/06/2014
// TOW, in GPS, is referred to the START of the SUBFRAME, that is, THE FIRST SYMBOL OF THAT SUBFRAME, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_subframe_start.
// Sice we detected the preable, then, we are in the last symbol of that preamble, or just at the start of the first subframe symbol.
{
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
d_TOW_at_current_symbol = d_TOW_at_Preamble;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if (flag_TOW_set == false)
{
flag_TOW_set = true;
}
}
else
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
}
d_flag_parity = true;
}
else
{
d_GPS_FSM.Event_gps_word_invalid();
d_flag_parity = false;
}
d_prev_GPS_frame_4bytes = d_GPS_frame_4bytes; // save the actual frame
d_GPS_frame_4bytes = d_GPS_frame_4bytes & 0;
}
else
{
d_GPS_frame_4bytes <<= 1; //shift 1 bit left the telemetry word
}
}
// output the frame
consume_each(1); //one by one
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
//update TOW at the preamble instant (todo: check for valid d_TOW)
// JAVI: 30/06/2014
// TOW, in GPS, is referred to the START of the SUBFRAME, that is, THE FIRST SYMBOL OF THAT SUBFRAME, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_subframe_start.
// Sice we detected the preable, then, we are in the last symbol of that preamble, or just at the start of the first subframe symbol.
{
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
d_TOW_at_current_symbol = d_TOW_at_Preamble;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if (flag_TOW_set == false)
{
flag_TOW_set = true;
}
}
else
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
}
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol; // to be used in the hybrid configuration
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set == true);
current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol; // to be used in the hybrid configuration
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set == true);
current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
if (flag_PLL_180_deg_phase_locked == true)
{
//correct the accumulated phase for the costas loop phase shift, if required
current_synchro_data.Carrier_phase_rads += GPS_PI;
}
if (flag_PLL_180_deg_phase_locked == true)
{
//correct the accumulated phase for the costas loop phase shift, if required
current_synchro_data.Carrier_phase_rads += GPS_PI;
}
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
//todo: implement averaging
//todo: implement averaging
d_average_count++;
if (d_average_count == d_decimation_output_factor)
{
d_average_count = 0;
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
//std::cout<<"GPS L1 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
return 1;
}
else
{
return 0;
}
}
d_average_count++;
if (d_average_count == d_decimation_output_factor)
{
d_average_count = 0;
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
//std::cout<<"GPS L1 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
return 1;
}
else
{
return 0;
}
}
void gps_l1_ca_telemetry_decoder_cc::set_decimation(int decimation)
{
d_decimation_output_factor = decimation;
}
void gps_l1_ca_telemetry_decoder_cc::set_decimation(int decimation)
{
d_decimation_output_factor = decimation;
}
void gps_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void gps_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
d_GPS_FSM.i_channel_ID = channel;
DLOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
d_GPS_FSM.i_channel_ID = channel;
DLOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@@ -85,7 +85,7 @@ private:
bool gps_word_parityCheck(unsigned int gpsword);
// constants
unsigned short int d_preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS];
//unsigned short int d_preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS];
// class private vars
int *d_preambles_symbols;

13
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
View File

@@ -116,9 +116,6 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items __attribute__
const Gnss_Synchro *in = (const Gnss_Synchro *) input_items[0]; // input
Gnss_Synchro *out = (Gnss_Synchro *) output_items[0]; // output
// store the time stamp of the first sample in the processed sample block
//double sample_stamp = in[0].Tracking_timestamp_secs;
bool flag_new_cnav_frame = false;
int last_frame_preamble_start = 0;
// copy correlation samples into samples vector
@@ -131,7 +128,7 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items __attribute__
{
if (in[0].Flag_valid_symbol_output == false) // check if the tracking is locked
{
//LOG(INFO)<< "Discarting channel "<<d_channel<<" tracking not ready!"<<std::endl;
LOG(INFO)<< "Discarting channel "<<d_channel<<" tracking not ready!"<<std::endl;
d_flag_valid_word = false;
}
else
@@ -152,14 +149,14 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items __attribute__
// they can be already aligned or shifted by one position
std::vector<int> bits;
//bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(d_sample_buf, bits);
d_symbol_aligner_and_decoder.get_bits(d_sample_buf, bits);
//std::stringstream ss;
//for (std::vector<int>::const_iterator bit_it = bits.begin(); bit_it < bits.end(); ++bit_it)
// {
// ss << *bit_it;
// }
// LOG(INFO) << "get_bits=" << ss.str() << std::endl;
//LOG(INFO) << "get_bits=" << ss.str() << std::endl;
// search for preambles
// and extract the corresponding message candidates
@@ -187,12 +184,14 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items __attribute__
d_flag_invert_input_symbols = d_flag_invert_buffer_symbols;
std::vector<int> tmp_msg;
std::string msg;
//todo: now the symbol buffer size is two CNAV frames because the preamble is not detected.
// Use the first valid frame to realign the bufer symbols with the preamble start and not miss a frame
LOG(INFO) << valid_msgs.size() << " GOOD L2C CNAV FRAME DETECTED! CH " <<this->d_channel;
for (unsigned int i = 0;i < valid_msgs.size(); i++)
{
tmp_msg = valid_msgs.at(i).second;
d_CNAV_Message.decode_page(tmp_msg);
//std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl;
std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl;
flag_new_cnav_frame = true;
d_flag_valid_word = true;
last_frame_preamble_start = valid_msgs.at(i).first;

9
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
View File

@@ -385,14 +385,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items __attri
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
pmt::pmt_t value = pmt::from_long(3);//3 -> loss of lock
this->message_port_pub(pmt::mp("events"), value);
// std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
// if (d_queue != gr::msg_queue::sptr())
// {
// d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
// }
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}

9
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
View File

@@ -110,7 +110,7 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
@@ -394,11 +394,8 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items __attr
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}

14
src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
View File

@@ -109,7 +109,7 @@ Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
this->set_relative_rate(1.0 / vector_length);
// initialize internal vars
d_queue = queue;
@@ -586,11 +586,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_state = 0; // TODO: check if disabling tracking is consistent with the channel state machine
}
@@ -615,11 +611,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_state = 0;
}

9
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@@ -548,14 +548,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
pmt::pmt_t value = pmt::from_long(3);//3 -> loss of lock
this->message_port_pub(pmt::mp("events"), value);
//std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
//if (d_queue != gr::msg_queue::sptr())
// {
// d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
// }
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}

7
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@@ -104,6 +104,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@ -425,11 +426,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attri
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}

9
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@@ -105,7 +105,6 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
@@ -408,13 +407,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
pmt::pmt_t value = pmt::from_long(3);//3 -> loss of lock
this->message_port_pub(pmt::mp("events"), value);
// std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
// if (d_queue != gr::msg_queue::sptr())
// {
// d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
// }
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}

7
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
View File

@@ -101,6 +101,7 @@ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@ -431,11 +432,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work (int noutput_items __attribu
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}

6
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
View File

@@ -104,6 +104,7 @@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::Gps_L1_Ca_Tcp_Connector_Tracking_cc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@ -441,10 +442,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items __attri
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr()) {
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine

7
src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
View File

@@ -104,6 +104,7 @@ gps_l2_m_dll_pll_tracking_cc::gps_l2_m_dll_pll_tracking_cc(
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@ -412,11 +413,7 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items __attribute__(
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}