mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 04:00:34 +00:00
Embed the whole system in a test
This commit is contained in:
Carles Fernandez
parent
dda1833646
commit
211b7b34c0
@ -151,6 +151,8 @@ if(ENABLE_SW_GENERATOR)
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set(SW_GENERATOR_BIN ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim)
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add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
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add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
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add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
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endif(ENABLE_SW_GENERATOR)
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add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/src/tests/")
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@ -460,6 +462,11 @@ if(ENABLE_SYSTEM_TESTING)
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else(NOT ${GTEST_DIR_LOCAL})
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add_dependencies(trk_system_test gtest)
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endif(NOT ${GTEST_DIR_LOCAL})
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target_link_libraries(trk_system_test ${GFlags_LIBS}
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${GLOG_LIBRARIES}
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${GTEST_LIBRARIES}
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gnss_sp_libs
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gnss_rx)
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add_custom_command(TARGET trk_system_test POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:trk_system_test>
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${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:trk_system_test>
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@ -3,35 +3,315 @@
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#include <unistd.h>
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#include <sys/wait.h>
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#include <exception>
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//#include <gflags/gflags.h>
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//#include <glog/logging.h>
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//include <gtest/gtest.h>
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#include <gflags/gflags.h>
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#include <glog/logging.h>
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#include <gtest/gtest.h>
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#include "control_thread.h"
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#include "concurrent_map.h"
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#include "concurrent_queue.h"
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#include "in_memory_configuration.h"
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// For GPS NAVIGATION (L1)
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concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
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concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
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class Trk_System_Test: public ::testing::Test
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{
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public:
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std::string generator_binary;
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std::string p1;
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std::string p2_static;
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std::string p2_dynamic;
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std::string p3;
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std::string p4;
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std::string p5;
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int main()
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const int baseband_sampling_freq = 2.6e6;
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std::string filename_rinex_obs = "sim.16o";
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std::string filename_raw_data = "signal_out.bin";
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int configure_generator();
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int generate_signal();
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int configure_receiver();
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int run_receiver();
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int check_results();
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std::shared_ptr<InMemoryConfiguration> config;
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};
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int Trk_System_Test::configure_generator()
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{
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// Configure signal
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generator_binary = std::string(SW_GENERATOR_BIN);
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p1 = std::string("-rinex_nav_file=") + std::string(DEFAULT_RINEX_NAV);
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p2_static = std::string("-static_position=30.286502,120.032669,100,1000");
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p2_dynamic = std::string("-obs_pos_file=") + std::string(DEFAULT_POSITION_FILE); // Observer positions file, in .csv or .nmea format"
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p3 = std::string("-rinex_obs_file=") + filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
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return 0;
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}
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int Trk_System_Test::generate_signal()
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{
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pid_t wait_result;
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int child_status;
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// Configure signal
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std::string str = std::string(SW_GENERATOR_BIN);
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std::string p1 = std::string("-rinex_nav_file=") + std::string(DEFAULT_RINEX_NAV);
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std::string p2 = std::string("-static_position=30.286502,120.032669,100,40");
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char *const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2_static[0], &p3[0], &p4[0], &p5[0], NULL };
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char *const parmList[] = { &str[0], &str[0], &p1[0], &p2[0], NULL };
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int pid;
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if ((pid = fork()) == -1)
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perror("fork error");
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else if (pid == 0)
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{
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execv(&str[0], parmList);
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execv(&generator_binary[0], parmList);
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std::cout << "Return not expected. Must be an execv error." << std::endl;
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std::terminate();
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}
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wait_result = waitpid(pid, &child_status, 0);
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std::cout << "Signal and Observables RINEX files created." << std::endl;
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return 0;
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}
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int Trk_System_Test::configure_receiver()
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{
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config = std::make_shared<InMemoryConfiguration>();
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const double central_freq = 1575420000.0;
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const int sampling_rate_internal = baseband_sampling_freq;
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const double gain_dB = 40.0;
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const int number_of_taps = 11;
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const int number_of_bands = 2;
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const float band1_begin = 0.0;
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const float band1_end = 0.48;
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const float band2_begin = 0.52;
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const float band2_end = 1.0;
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const float ampl1_begin = 1.0;
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const float ampl1_end = 1.0;
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const float ampl2_begin = 0.0;
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const float ampl2_end = 0.0;
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const float band1_error = 1.0;
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const float band2_error = 1.0;
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const int grid_density = 16;
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const int decimation_factor = 1;
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const float zero = 0.0;
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const int number_of_channels = 8;
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const int in_acquisition = 1;
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const float threshold = 0.01;
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const float doppler_max = 8000.0;
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const float doppler_step = 500.0;
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const int max_dwells = 1;
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const int tong_init_val = 2;
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const int tong_max_val = 10;
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const int tong_max_dwells = 30;
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const int coherent_integration_time_ms = 1;
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const float pll_bw_hz = 30.0;
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const float dll_bw_hz = 4.0;
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const float early_late_space_chips = 0.5;
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const int display_rate_ms = 500;
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const int output_rate_ms = 100;
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const int averaging_depth = 10;
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bool false_bool = false;
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config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(sampling_rate_internal));
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// Set the assistance system parameters
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config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
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config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
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config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
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config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
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config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
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config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
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config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
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// Set the Signal Source
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config->set_property("SignalSource.implementation", "File_Signal_Source");
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config->set_property("SignalSource.filename", "./" + filename_raw_data);
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config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("SignalSource.item_type", "ibyte");
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config->set_property("SignalSource.samples", std::to_string(zero));
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// Set the Signal Conditioner
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config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
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config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.dump", "false");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
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config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
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config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
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config->set_property("InputFilter.band1_end", std::to_string(band1_end));
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config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
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config->set_property("InputFilter.band2_end", std::to_string(band2_end));
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config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
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config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
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config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
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config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
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config->set_property("InputFilter.band1_error", std::to_string(band1_error));
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config->set_property("InputFilter.band2_error", std::to_string(band2_error));
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", std::to_string(grid_density));
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config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
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config->set_property("InputFilter.IF", std::to_string(zero));
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config->set_property("Resampler.implementation", "Pass_Through");
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config->set_property("Resampler.dump", "false");
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config->set_property("Resampler.item_type", "gr_complex");
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config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
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config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
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// Set the number of Channels
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config->set_property("Channels_1C.count", std::to_string(number_of_channels));
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config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
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config->set_property("Channel.signal", "1C");
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// Set Acquisition
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config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
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config->set_property("Acquisition_1C.item_type", "gr_complex");
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config->set_property("Acquisition_1C.if", std::to_string(zero));
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config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
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config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
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config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_1C.bit_transition_flag", "false");
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config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
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config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
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config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
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config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
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// Set Tracking
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config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
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config->set_property("Tracking_1C.item_type", "gr_complex");
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config->set_property("Tracking_1C.if", std::to_string(zero));
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config->set_property("Tracking_1C.dump", "false");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
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config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
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config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
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// Set Telemetry
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config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
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config->set_property("TelemetryDecoder_1C.dump", "false");
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config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor));
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// Set Observables
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config->set_property("Observables.implementation", "GPS_L1_CA_Observables");
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config->set_property("Observables.dump", "false");
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config->set_property("Observables.dump_filename", "./observables.dat");
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// Set PVT
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config->set_property("PVT.implementation", "GPS_L1_CA_PVT");
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config->set_property("PVT.averaging_depth", std::to_string(averaging_depth));
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config->set_property("PVT.flag_averaging", "true");
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config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
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config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
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config->set_property("PVT.dump_filename", "./PVT");
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config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
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config->set_property("PVT.flag_nmea_tty_port", "false");
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config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
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config->set_property("PVT.flag_rtcm_server", "false");
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config->set_property("PVT.flag_rtcm_tty_port", "false");
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config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
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config->set_property("PVT.dump", "false");
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return 0;
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}
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int Trk_System_Test::run_receiver()
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{
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std::shared_ptr<ControlThread> control_thread;
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control_thread = std::make_shared<ControlThread>(config);
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// start receiver
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try
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{
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control_thread->run();
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}
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catch( boost::exception & e )
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{
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std::cout << "Boost exception: " << boost::diagnostic_information(e);
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}
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catch(std::exception const& ex)
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{
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std::cout << "STD exception: " << ex.what();
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}
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return 0;
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}
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int Trk_System_Test::check_results()
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{
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// Open reference RINEX observables file
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// Open generated RINEX observables file
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// Read reference pseudoranges from a given satellite
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// Read obtained pseudoranges from a given satellite
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// Compute pseudorange error
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// Read reference carrier phase from a given satellite
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// Read obtained carrier phase from a given satellite
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// Compute carrier phase error
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return 0;
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}
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TEST_F(Trk_System_Test, Tracking_system_test)
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{
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// Configure the signal generator
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configure_generator();
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// Generate signal raw signal samples and observations RINEX file
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generate_signal();
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// Configure receiver
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configure_receiver();
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// Run the receiver
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run_receiver();
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// Check results
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check_results();
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}
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int main(int argc, char **argv)
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{
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std::cout << "Running Tracking validation test..." << std::endl;
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int res = 0;
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try
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{
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testing::InitGoogleTest(&argc, argv);
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}
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catch(...) {} // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
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google::ParseCommandLineFlags(&argc, &argv, true);
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google::InitGoogleLogging(argv[0]);
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// Run the Tests
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try
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{
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res = RUN_ALL_TESTS();
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}
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catch(...)
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{
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LOG(WARNING) << "Unexpected catch";
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}
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google::ShutDownCommandLineFlags();
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return res;
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}
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