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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into pps_lime

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This commit is contained in:
Javier Arribas
2021-04-19 15:23:10 +02:00
parent 5c3134dbde f1d671ca8b
commit 261a9ae264
12 changed files with 540 additions and 24 deletions
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8
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
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@@ -72,6 +72,9 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_g
lv_32fc_t phase_doppler = (*phase);
int n_vec;
unsigned int n;
#if _WIN32
const float arga = cargf(phase_inc_rate);
#endif
for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
{
result[n_vec] = lv_cmake(0.0f, 0.0f);
@@ -89,8 +92,13 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_g
}
tmp32_1 = *in_common++ * (*phase);
phase_doppler *= phase_inc;
#if _WIN32
const float theta = (float)(n * n) * arga;
phase_doppler_rate = lv_cmake(cosf(theta), sinf(theta));
#else
phase_doppler_rate = cpowf(phase_inc_rate, lv_cmake((float)(n * n), 0.0f));
phase_doppler_rate /= hypotf(lv_creal(phase_doppler_rate), lv_cimag(phase_doppler_rate));
#endif
(*phase) = phase_doppler * phase_doppler_rate;
for (n_vec = 0; n_vec < num_a_vectors; n_vec++)

1
src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
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@@ -32,6 +32,7 @@ GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(
{
DLOG(INFO) << "role " << role;
tlm_parameters_.SetFromConfiguration(configuration, role);
tlm_parameters_.enable_reed_solomon = configuration->property(role + ".enable_reed_solomon", false);
// make telemetry decoder object
telemetry_decoder_ = galileo_make_telemetry_decoder_gs(satellite_, tlm_parameters_, 1); // unified galileo decoder set to INAV (frame_type=1)
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";

9
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
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@@ -94,7 +94,10 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_codelength = static_cast<int32_t>(d_frame_length_symbols);
d_datalength = (d_codelength / d_nn) - d_mm;
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; // rise alarm 60 seconds without valid tlm
if (conf.enable_reed_solomon == true)
{
d_inav_nav.enable_reed_solomon();
}
break;
}
case 2: // FNAV
@@ -599,10 +602,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// 1. Copy the current tracking output
current_symbol = in[0][0];
d_band = current_symbol.Signal[0];
if (d_band == '1')
{
d_inav_nav.enable_reed_solomon();
}
// add new symbol to the symbol queue
switch (d_frame_type)

1
src/algorithms/telemetry_decoder/libs/tlm_conf.cc
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@@ -22,6 +22,7 @@ Tlm_Conf::Tlm_Conf()
dump = false;
dump_mat = false;
remove_dat = false;
enable_reed_solomon = false;
}

1
src/algorithms/telemetry_decoder/libs/tlm_conf.h
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@@ -38,6 +38,7 @@ public:
bool dump;
bool dump_mat;
bool remove_dat;
bool enable_reed_solomon; // for INAV message in Galileo E1B
};

6
src/core/system_parameters/CMakeLists.txt
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@@ -116,6 +116,12 @@ target_link_libraries(core_system_parameters
Glog::glog
)
# for gnss_sdr_make_unique.h
target_include_directories(core_system_parameters
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(core_system_parameters

284
src/core/system_parameters/galileo_inav_message.cc
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@@ -1,7 +1,7 @@
/*!
* \file galileo_inav_message.cc
* \brief Implementation of a Galileo I/NAV Data message
* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
* as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021)
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
@@ -10,7 +10,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@@ -18,12 +18,14 @@
#include "galileo_inav_message.h"
#include "galileo_reduced_ced.h"
#include "reed_solomon.h"
#include <boost/crc.hpp> // for boost::crc_basic, boost::crc_optimal
#include <boost/dynamic_bitset.hpp> // for boost::dynamic_bitset
#include <glog/logging.h> // for DLOG
#include <algorithm> // for reverse
#include <iostream> // for operator<<
#include <limits> // for std::numeric_limits
#include <numeric> // for std::accumulate
using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
@@ -32,9 +34,16 @@ using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false
Galileo_Inav_Message::Galileo_Inav_Message()
{
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
// Instantiate ReedSolomon without encoding capabilities, saves some memory
rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
inav_rs_pages = std::vector<int>(8, 0);
}
// here the compiler knows how to destrcut rs
Galileo_Inav_Message::~Galileo_Inav_Message() = default;
bool Galileo_Inav_Message::CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const
{
CRC_Galileo_INAV_type CRC_Galileo;
@@ -243,6 +252,116 @@ bool Galileo_Inav_Message::have_new_ephemeris() // Check if we have a new ephem
return true;
}
}
if (enable_rs)
{
// Implement FEC2 Erasure Correction defined in Galileo ICD 2.0
if (std::accumulate(inav_rs_pages.begin(), inav_rs_pages.end(), 0) == 4)
{
// Four different INAV pages received with CRC ok
// so we can decode the buffer and retrieve data from missing pages
// Generate erasure vector
std::vector<int> erasure_positions;
erasure_positions.reserve(60); // max number of erasure positions
if (inav_rs_pages[0] == 0)
{
// we always know rs_buffer[0], so we start at 1
for (int i = 1; i < 16; i++)
{
erasure_positions.push_back(i);
}
}
if (inav_rs_pages[1] == 0)
{
for (int i = 16; i < 30; i++)
{
erasure_positions.push_back(i);
}
}
if (inav_rs_pages[2] == 0)
{
for (int i = 30; i < 44; i++)
{
erasure_positions.push_back(i);
}
}
if (inav_rs_pages[3] == 0)
{
for (int i = 44; i < 58; i++)
{
erasure_positions.push_back(i);
}
}
if (inav_rs_pages[4] == 0)
{
for (int i = 58; i < 73; i++)
{
erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
}
}
if (inav_rs_pages[5] == 0)
{
for (int i = 73; i < 88; i++)
{
erasure_positions.push_back(i + 137);
}
}
if (inav_rs_pages[6] == 0)
{
for (int i = 88; i < 103; i++)
{
erasure_positions.push_back(i + 137);
}
}
if (inav_rs_pages[7] == 0)
{
for (int i = 103; i < 118; i++)
{
erasure_positions.push_back(i + 137);
}
}
// Decode rs_buffer
int result = rs->decode(rs_buffer, erasure_positions);
// if decoding ok
if (result >= 0)
{
if (inav_rs_pages[0] == 0)
{
std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_1(rs_buffer);
read_page_1(missing_bits);
}
if (inav_rs_pages[1] == 0)
{
std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_2(rs_buffer);
read_page_2(missing_bits);
}
if (inav_rs_pages[2] == 0)
{
std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_3(rs_buffer);
read_page_3(missing_bits);
}
if (inav_rs_pages[3] == 0)
{
std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_4(rs_buffer);
read_page_4(missing_bits);
}
// Reset flags
inav_rs_pages = std::vector<int>(8, 0);
flag_ephemeris_1 = false; // clear the flag
flag_ephemeris_2 = false; // clear the flag
flag_ephemeris_3 = false; // clear the flag
flag_ephemeris_4 = false; // clear the flag
flag_all_ephemeris = true;
IOD_ephemeris = IOD_nav_1;
DLOG(INFO) << "Batch number: " << IOD_ephemeris;
return true;
}
}
}
return false;
}
@@ -458,6 +577,8 @@ Galileo_Ephemeris Galileo_Inav_Message::get_reduced_ced() const
{
Galileo_Reduced_CED ced{};
ced.PRN = SV_ID_PRN_4;
// From ICD: TOTRedCED is the start time of transmission of the
// Reduced CED word 16 in GST
if (TOW_5 > TOW_6)
{
ced.TOTRedCED = WN_5 * 604800 + TOW_5 + 4; // According to ICD 2.0, Table 38
@@ -595,6 +716,104 @@ void Galileo_Inav_Message::read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>&
}
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_1(const std::vector<uint8_t>& decoded) const
{
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
// Set page type to 1
data_bits.set(5);
std::bitset<8> c0(decoded[0]);
std::bitset<8> c1(decoded[1]);
for (int i = 0; i < 8; i++)
{
data_bits[6 + i] = c1[i];
}
data_bits[14] = c0[6];
data_bits[15] = c0[7];
for (int k = 2; k < 16; k++)
{
std::bitset<8> octet(decoded[k]);
for (int i = 0; i < 8; i++)
{
data_bits[i + k * 8] = octet[i];
}
}
return data_bits;
}
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_2(const std::vector<uint8_t>& decoded) const
{
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
// Set page type to 2
data_bits.set(4);
std::bitset<10> iodnav(current_IODnav);
for (int i = 0; i < 10; i++)
{
data_bits[6 + i] = iodnav[i];
}
for (int k = 0; k < 14; k++)
{
std::bitset<8> octet(decoded[k + 16]);
for (int i = 0; i < 8; i++)
{
data_bits[16 + i + k * 8] = octet[i];
}
}
return data_bits;
}
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_3(const std::vector<uint8_t>& decoded) const
{
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
// Set page type to 3
data_bits.set(4);
data_bits.set(5);
std::bitset<10> iodnav(current_IODnav);
for (int i = 0; i < 10; i++)
{
data_bits[6 + i] = iodnav[i];
}
for (int k = 0; k < 14; k++)
{
std::bitset<8> octet(decoded[k + 30]);
for (int i = 0; i < 8; i++)
{
data_bits[16 + i + k * 8] = octet[i];
}
}
return data_bits;
}
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_4(const std::vector<uint8_t>& decoded) const
{
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
// Set page type to 4
data_bits.set(3);
std::bitset<10> iodnav(current_IODnav);
for (int i = 0; i < 10; i++)
{
data_bits[6 + i] = iodnav[i];
}
for (int k = 0; k < 14; k++)
{
std::bitset<8> octet(decoded[k + 44]);
for (int i = 0; i < 8; i++)
{
data_bits[16 + i + k * 8] = octet[i];
}
}
return data_bits;
}
int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
const std::string data_jk_string = data_jk;
@@ -619,6 +838,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
// IODnav changed, reset buffer
current_IODnav = IOD_nav_1;
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
// Reed-Solomon data is invalid
inav_rs_pages = std::vector<int>(8, 0);
}
// Store RS information vector C_{RS,0}
@@ -633,6 +854,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[0] = 1;
}
break;
@@ -652,6 +874,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
// IODnav changed, reset buffer
current_IODnav = IOD_nav_2;
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
// Reed-Solomon data is invalid
inav_rs_pages = std::vector<int>(8, 0);
}
// Store RS information vector C_{RS,1}
@@ -663,6 +887,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[1] = 1;
}
break;
}
@@ -680,6 +905,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
// IODnav changed, reset buffer
current_IODnav = IOD_nav_3;
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
// Reed-Solomon data is invalid
inav_rs_pages = std::vector<int>(8, 0);
}
// Store RS information vector C_{RS,2}
@@ -691,6 +918,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[2] = 1;
}
break;
}
@@ -709,6 +937,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
// IODnav changed, reset buffer
current_IODnav = IOD_nav_4;
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
// Reed-Solomon data is invalid
inav_rs_pages = std::vector<int>(8, 0);
}
// Store RS information vector C_{RS,3}
@@ -720,6 +950,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[3] = 1;
}
break;
}
@@ -988,6 +1219,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
IODnav_LSB17 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 17: " << static_cast<float>(IODnav_LSB17);
if (IODnav_LSB17 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, information vector is invalid
inav_rs_pages[0] = 0;
inav_rs_pages[1] = 0;
inav_rs_pages[2] = 0;
inav_rs_pages[3] = 0;
}
// Store RS parity vector gamma_{RS,0}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
@@ -998,6 +1237,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[4] = 1;
}
break;
}
@@ -1008,6 +1248,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
IODnav_LSB18 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 18: " << static_cast<float>(IODnav_LSB18);
if (IODnav_LSB18 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, information vector is invalid
inav_rs_pages[0] = 0;
inav_rs_pages[1] = 0;
inav_rs_pages[2] = 0;
inav_rs_pages[3] = 0;
}
// Store RS parity vector gamma_{RS,1}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
@@ -1018,6 +1266,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[5] = 1;
}
break;
}
@@ -1028,6 +1277,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
IODnav_LSB19 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 19: " << static_cast<float>(IODnav_LSB19);
if (IODnav_LSB19 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, information vector is invalid
inav_rs_pages[0] = 0;
inav_rs_pages[1] = 0;
inav_rs_pages[2] = 0;
inav_rs_pages[3] = 0;
}
// Store RS parity vector gamma_{RS,2}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 2 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
@@ -1038,6 +1295,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[6] = 1;
}
break;
}
@@ -1048,6 +1306,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
IODnav_LSB20 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 20: " << static_cast<float>(IODnav_LSB20);
if (IODnav_LSB20 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, information vector is invalid
inav_rs_pages[0] = 0;
inav_rs_pages[1] = 0;
inav_rs_pages[2] = 0;
inav_rs_pages[3] = 0;
}
// Store RS parity vector gamma_{RS,4}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 3 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
@@ -1058,6 +1324,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
inav_rs_pages[7] = 1;
}
break;
}
@@ -1065,11 +1332,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 0: // Word type 0: I/NAV Spare Word
Time_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TIME_0_BIT));
DLOG(INFO) << "Time_0= " << Time_0;
WN_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_0_BIT));
DLOG(INFO) << "WN_0= " << WN_0;
TOW_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_0_BIT));
DLOG(INFO) << "TOW_0= " << TOW_0;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
if (Time_0 == 2) // valid data
{
WN_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_0_BIT));
DLOG(INFO) << "WN_0= " << WN_0;
TOW_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_0_BIT));
DLOG(INFO) << "TOW_0= " << TOW_0;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
}
break;
default:

18
src/core/system_parameters/galileo_inav_message.h
View File

@@ -1,7 +1,7 @@
/*!
* \file galileo_inav_message.h
* \brief Implementation of a Galileo I/NAV Data message
* as described in Galileo OS SIS ICD Issue 1.2 (Nov. 2015)
* as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021)
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
@@ -10,7 +10,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@@ -24,12 +24,16 @@
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11
#include <bitset>
#include <cstdint>
#include <memory>
#include <string>
#include <utility>
#include <vector>
class ReedSolomon; // Forward declaration of the ReedSolomon class
/** \addtogroup Core
* \{ */
/** \addtogroup System_Parameters
@@ -46,6 +50,8 @@ class Galileo_Inav_Message
public:
Galileo_Inav_Message();
~Galileo_Inav_Message();
/*
* \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
*/
@@ -210,6 +216,10 @@ private:
void read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_1(const std::vector<uint8_t>& decoded) const;
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_2(const std::vector<uint8_t>& decoded) const;
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_3(const std::vector<uint8_t>& decoded) const;
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_4(const std::vector<uint8_t>& decoded) const;
std::string page_Even{};
@@ -366,7 +376,9 @@ private:
int32_t current_IODnav{};
std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer
std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer
std::unique_ptr<ReedSolomon> rs; // The Reed-Solomon decoder
std::vector<int> inav_rs_pages; // Pages 1,2,3,4,17,18,19,20. Holds 1 if the page has arrived, 0 otherwise.
uint8_t IODnav_LSB17{};
uint8_t IODnav_LSB18{};

13
src/core/system_parameters/reed_solomon.cc
View File

@@ -739,18 +739,19 @@ void ReedSolomon::encode_rs_8(const uint8_t* data, uint8_t* parity) const
int ReedSolomon::decode(std::vector<uint8_t>& data_to_decode, const std::vector<int>& erasure_positions) const
{
int result = -1;
if (data_to_decode.size() != d_data_symbols_shortened)
{
std::cerr << "Reed Solomon usage error: wrong vector input size in decode method.\n";
return result;
}
if (erasure_positions.size() > std::size_t(d_nroots))
{
std::cerr << "Reed Solomon usage error: too much erasure positions.\n";
return result;
}
size_t size_buffer = data_to_decode.size();
if ((size_buffer != d_data_symbols_shortened) && (size_buffer != static_cast<size_t>(d_symbols_per_block)))
{
std::cerr << "Reed Solomon usage error: wrong vector input size in decode method.\n";
return result;
}
if (d_shortening == 0)
if (d_shortening == 0 || (size_buffer == static_cast<size_t>(d_symbols_per_block)))
{
result = decode_rs_8(data_to_decode.data(), erasure_positions.data(), erasure_positions.size());
}

1
src/tests/benchmarks/CMakeLists.txt
View File

@@ -103,6 +103,7 @@ endmacro()
add_benchmark(benchmark_copy)
add_benchmark(benchmark_preamble core_system_parameters)
add_benchmark(benchmark_detector core_system_parameters)
add_benchmark(benchmark_reed_solomon core_system_parameters)
if(has_std_plus_void)
target_compile_definitions(benchmark_detector PRIVATE -DCOMPILER_HAS_STD_PLUS_VOID=1)

210
src/tests/benchmarks/benchmark_reed_solomon.cc Normal file
View File

@@ -0,0 +1,210 @@
/*!
* \file benchmark_redd_solomon.cc
* \brief Benchmark for Reed Solomon decoder
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11
#include "reed_solomon.h"
#include <benchmark/benchmark.h>
#include <memory>
#include <vector>
void bm_e1b_erasurecorrection_shortened(benchmark::State& state)
{
std::vector<uint8_t> code_vector = {147, 109, 66, 23, 234, 140, 74, 234, 49, 89, 241, 253, 169, 161, 89, 93, 75, 142, 83, 102, 98, 218, 14, 197, 155, 151, 43, 181, 9, 163, 142, 111, 8, 118, 21, 47, 135, 139, 108, 215, 51, 147, 185, 52, 17, 151, 97, 102, 238, 71, 83, 114, 47, 80, 67, 199, 215, 162, 238, 77, 12, 72, 235, 21, 148, 213, 230, 54, 183, 82, 49, 104, 12, 228, 150, 157, 220, 112, 236, 187, 63, 31, 175, 47, 210, 164, 17, 104, 98, 46, 252, 165, 194, 57, 26, 213, 14, 133, 176, 148, 34, 9, 167, 43, 204, 198, 25, 164, 233, 55, 153, 31, 237, 84, 212, 76, 137, 242};
auto rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
// Use case: We have received Word 1, Word 3, Word 18, Word 20
// So we have: c_0, c_2, g_1, g_3
// Delete c_1
for (int i = 16; i < 30; i++)
{
code_vector[i] = 0;
}
// Delete c_3
for (int i = 44; i < 58; i++)
{
code_vector[i] = 0;
}
// Delete g_0
for (int i = 58; i < 73; i++)
{
code_vector[i] = 0;
}
// Delete g_2
for (int i = 88; i < 103; i++)
{
code_vector[i] = 0;
}
std::vector<uint8_t> code_vector_missing = code_vector;
while (state.KeepRunning())
{
std::vector<int> erasure_positions;
erasure_positions.reserve(60);
for (int i = 16; i < 30; i++)
{
erasure_positions.push_back(i);
}
// Delete c_3
for (int i = 44; i < 58; i++)
{
erasure_positions.push_back(i);
}
// Delete g_0
for (int i = 58; i < 73; i++)
{
erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
}
// Delete g_2
for (int i = 88; i < 103; i++)
{
erasure_positions.push_back(i + 137);
}
int result = rs->decode(code_vector, erasure_positions);
if (result < 0)
{
state.SkipWithError("Failed to decode data!");
break;
}
state.PauseTiming();
code_vector = code_vector_missing;
state.ResumeTiming();
}
}
void bm_e1b_erasurecorrection_unshortened(benchmark::State& state)
{
std::vector<uint8_t> code_vector = {147, 109, 66, 23, 234, 140, 74, 234, 49, 89, 241, 253, 169, 161, 89, 93, 75, 142, 83, 102, 98, 218, 14, 197, 155, 151, 43, 181, 9, 163, 142, 111, 8, 118, 21, 47, 135, 139, 108, 215, 51, 147, 185, 52, 17, 151, 97, 102, 238, 71, 83, 114, 47, 80, 67, 199, 215, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 238, 77, 12, 72, 235, 21, 148, 213, 230, 54, 183, 82, 49, 104, 12, 228, 150, 157, 220, 112, 236, 187, 63, 31, 175, 47, 210, 164, 17, 104, 98, 46, 252, 165, 194, 57, 26, 213, 14, 133, 176, 148, 34, 9, 167, 43, 204, 198, 25, 164, 233, 55, 153, 31, 237, 84, 212, 76, 137, 242};
auto rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
// Use case: We have received Word 1, Word 3, Word 18, Word 20
// So we have: c_0, c_2, g_1, g_3
// Delete c_1
for (int i = 16; i < 30; i++)
{
code_vector[i] = 0;
}
// Delete c_3
for (int i = 44; i < 58; i++)
{
code_vector[i] = 0;
}
// Delete g_0
for (int i = 137 + 58; i < 137 + 73; i++)
{
code_vector[i] = 0;
}
// Delete g_2
for (int i = 137 + 88; i < 137 + 103; i++)
{
code_vector[i] = 0;
}
std::vector<uint8_t> code_vector_missing = code_vector;
while (state.KeepRunning())
{
std::vector<int> erasure_positions;
erasure_positions.reserve(60);
for (int i = 16; i < 30; i++)
{
erasure_positions.push_back(i);
}
// Delete c_3
for (int i = 44; i < 58; i++)
{
erasure_positions.push_back(i);
}
// Delete g_0
for (int i = 58; i < 73; i++)
{
erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
}
// Delete g_2
for (int i = 88; i < 103; i++)
{
erasure_positions.push_back(i + 137);
}
int result = rs->decode(code_vector, erasure_positions);
if (result < 0)
{
state.SkipWithError("Failed to decode data!");
break;
}
state.PauseTiming();
code_vector = code_vector_missing;
state.ResumeTiming();
}
}
void bm_e6b_correction(benchmark::State& state)
{
const std::vector<uint8_t> expected_output = {71, 12, 25, 210, 178, 81, 243, 9, 112, 98, 196, 203, 48, 125, 114, 165, 181, 193, 71, 174, 168, 42, 31, 128, 245, 87, 150, 58, 192, 66, 130, 179};
std::vector<uint8_t> encoded_input = {
71, 12, 25, 210, 178, 81, 243, 9, 112, 98, 196, 203, 48, 125, 114, 165, 181, 193, 71, 174, 168, 42, 31, 128, 245, 87, 150, 58, 192, 66, 130, 179, 133, 210, 122, 224, 75, 138, 20, 205, 14, 245, 209, 187, 246, 228, 12, 39, 244, 238, 223, 217, 84, 233, 137, 168, 153, 8, 94, 26, 99, 169, 149, 203, 115, 69, 211, 43, 70, 96, 70, 38, 160, 1, 232, 153, 223, 165, 93, 205, 101, 170, 60, 188, 198, 82, 168, 79, 95, 23, 118, 215, 187, 136, 24, 99, 252, 3, 144, 166, 117, 45, 168, 239, 77, 42, 246, 33, 122, 97, 242, 236, 13, 217, 96, 186, 71, 250, 242, 177, 125, 87, 27, 13, 118, 181, 178, 12, 27, 66, 31, 74, 127, 46, 112, 127, 116, 122, 190, 71, 240, 95, 78, 194, 113, 80, 46, 126, 74, 136, 118, 133, 105, 176, 47, 230, 162, 195, 93, 157, 72, 119, 13, 232, 151, 200, 191, 143, 75, 161, 111, 29, 158, 16, 181, 165, 92, 39, 17, 218, 228, 58, 176, 233, 55, 211, 195, 73, 37, 137, 232, 241, 150, 236, 152, 153, 53, 74, 81, 91, 160, 244, 21, 95, 176, 179, 141, 39, 61, 136, 16, 58, 160, 51, 210, 31, 134, 63, 203, 96, 219, 44, 231, 61, 220, 0, 241, 220, 207, 17, 52, 150, 117, 54, 222, 128, 101, 213, 164, 234, 74, 224, 57, 246, 70, 27, 202, 229, 4, 243, 128, 211, 158, 199, 4};
// Introduce t = (n-k)/2 = 111 errors:
for (int i = 0; i < 222; i += 2)
{
encoded_input[i] = 0;
}
std::vector<uint8_t> code_vector_missing = encoded_input;
auto rs = std::make_unique<ReedSolomon>();
while (state.KeepRunning())
{
int result = rs->decode(encoded_input);
if (result < 0)
{
state.SkipWithError("Failed to decode data!");
break;
}
state.PauseTiming();
encoded_input = code_vector_missing;
state.ResumeTiming();
}
}
BENCHMARK(bm_e1b_erasurecorrection_shortened);
BENCHMARK(bm_e1b_erasurecorrection_unshortened);
BENCHMARK(bm_e6b_correction);
BENCHMARK_MAIN();