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Add debug helpers

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This commit is contained in:
Carles Fernandez 2021-06-08 11:15:34 +02:00
parent dfd27e2815
commit 18fd999bda
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 59 additions and 12 deletions
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63
src/core/libs/galileo_e6_has_msg_receiver.cc
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@ -29,6 +29,7 @@
#include <algorithm> // std::find
#include <cstddef> // size_t
#include <numeric> // std::accumulate
#include <sstream> // std::stringstream
#include <typeinfo> // typeid
#if HAS_GENERIC_LAMBDA
@ -177,6 +178,10 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
}
}
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]);
// Reset HAS decoded message matrix
d_M_matrix = {GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)};
@ -189,6 +194,8 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
C_column[pid - 1] = d_C_matrix[message_id][pid - 1][col];
}
DLOG(INFO) << debug_print_vector("C_column entering the decoder", C_column);
int result = d_rs->decode(C_column, erasure_positions);
if (result < 0)
@ -205,6 +212,8 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
}
}
DLOG(INFO) << debug_print_matrix("M_matrix", d_M_matrix);
// Form the decoded HAS message by reading rows of d_M_matrix
std::string decoded_message_type_1;
decoded_message_type_1.reserve(message_size * GALILEO_CNAV_OCTETS_IN_SUBPAGE * 8);
@ -223,17 +232,17 @@ 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();
read_MT1_header(decoded_message_type_1);
read_MT1_body(decoded_message_type_1);
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()));
return 0;
}
void galileo_e6_has_msg_receiver::read_MT1_header(const std::string& message_string)
void galileo_e6_has_msg_receiver::read_MT1_header(const std::string& message_header)
{
// ICD v1.2 Table 6: MT1 Message Header
const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS> has_mt1_header(message_string);
const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS> has_mt1_header(message_header);
d_HAS_data.header.toh = read_has_message_header_parameter_uint16(has_mt1_header, GALILEO_MT1_HEADER_TOH);
d_HAS_data.header.mask_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_MASK_ID);
d_HAS_data.header.iod_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_IOD_ID);
@ -245,10 +254,10 @@ void galileo_e6_has_msg_receiver::read_MT1_header(const std::string& message_str
d_HAS_data.header.phase_bias_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_PHASE_BIAS_FLAG);
d_HAS_data.header.ura_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_URA_FLAG);
DLOG(INFO) << "MT1 header: "
DLOG(INFO) << "MT1 header " << message_header << ": "
<< "TOH: " << static_cast<float>(d_HAS_data.header.toh) << ", "
<< "mask iD: " << static_cast<float>(d_HAS_data.header.mask_id) << ", "
<< "iod iD: " << static_cast<float>(d_HAS_data.header.iod_id) << ", "
<< "mask ID: " << static_cast<float>(d_HAS_data.header.mask_id) << ", "
<< "iod ID: " << static_cast<float>(d_HAS_data.header.iod_id) << ", "
<< "mask_flag: " << static_cast<float>(d_HAS_data.header.mask_flag) << ", "
<< "orbit_correction_flag: " << static_cast<float>(d_HAS_data.header.orbit_correction_flag) << ", "
<< "clock_fullset_flag: " << static_cast<float>(d_HAS_data.header.clock_fullset_flag) << ", "
@ -259,16 +268,16 @@ void galileo_e6_has_msg_receiver::read_MT1_header(const std::string& message_str
}
void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_string)
void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
{
// ICD v1.2 Table 7: MT1 Message Body.
auto message = std::string(message_string.begin() + GALILEO_CNAV_MT1_HEADER_BITS, message_string.end()); // Remove header
auto message = std::string(message_body);
// int Nsat = 0;
if (d_HAS_data.header.mask_flag)
{
// read mask
d_HAS_data.Nsys = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYS_LENGTH));
DLOG(INFO) << "Nsys: " << static_cast<float>(d_HAS_data.Nsys);
// DLOG(ERROR) << "Nsys " << static_cast<float>(d_HAS_data.Nsys);
message = std::string(message.begin() + HAS_MSG_NSYS_LENGTH, message.end());
d_HAS_data.gnss_id_mask.reserve(d_HAS_data.Nsys);
d_HAS_data.cell_mask.reserve(d_HAS_data.Nsys);
@ -675,3 +684,37 @@ int16_t galileo_e6_has_msg_receiver::read_has_message_body_int16(const std::stri
return value;
}
template <class T>
std::string galileo_e6_has_msg_receiver::debug_print_vector(const std::string& title, const std::vector<T>& vec) const
{
std::string msg(title);
msg += ": \n";
std::stringstream ss;
for (auto el : vec)
{
ss << static_cast<float>(el) << " ";
}
msg += ss.str();
return msg;
}
std::string galileo_e6_has_msg_receiver::debug_print_matrix(const std::string& title, const std::vector<std::vector<uint8_t>>& mat) const
{
std::string msg(title);
msg += ": \n";
std::stringstream ss;
for (size_t row = 0; row < mat.size(); row++)
{
for (size_t col = 0; col < mat[0].size(); col++)
{
ss << static_cast<float>(mat[row][col]) << " ";
}
ss << '\n';
}
msg += ss.str();
return msg;
}

8
src/core/libs/galileo_e6_has_msg_receiver.h
View File

@ -61,8 +61,8 @@ private:
galileo_e6_has_msg_receiver();
void msg_handler_galileo_e6_has(const pmt::pmt_t& msg);
void process_HAS_page(const Galileo_HAS_page& has_page);
void read_MT1_header(const std::string& message_string);
void read_MT1_body(const std::string& message_string);
void read_MT1_header(const std::string& message_header);
void read_MT1_body(const std::string& message_body);
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;
@ -74,6 +74,10 @@ private:
uint64_t read_has_message_body_uint64(const std::string& bits) const;
int16_t read_has_message_body_int16(const std::string& bits) const;
template <class T>
std::string debug_print_vector(const std::string& title, const std::vector<T>& vec) const; // only for debug purposes
std::string debug_print_matrix(const std::string& title, const std::vector<std::vector<uint8_t>>& mat) const; // only for debug purposes
std::unique_ptr<ReedSolomon> d_rs;
Galileo_HAS_data d_HAS_data{};
std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix{32, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0))}; // 32 x 255 x 53