tel_dec: Fixing GLONASS GNAV Telemetry Decoder

Fixes GLONASS L1 CA telemetry decoder and creating connections with
observables blocks before PVT computation. Fixes documentation and code
style in the block

src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.cc

@@ -2,6 +2,7 @@
  * \file glonass_l1_ca_telemetry_decoder.cc
  * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
  * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -36,7 +37,6 @@
 #include "concurrent_queue.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_almanac.h"
-#include "glonass_gnav_iono.h"
 #include "glonass_gnav_utc_model.h"
 #include "configuration_interface.h"
 
@@ -55,7 +55,7 @@ GlonassL1CaTelemetryDecoder::GlonassL1CaTelemetryDecoder(ConfigurationInterface*
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
     // make telemetry decoder object
-    telemetry_decoder_ = glonass_l1_ca_make_telemetry_decoder_cc(satellite_, dump_); // TODO fix me
+    telemetry_decoder_ = glonass_l1_ca_make_telemetry_decoder_cc(satellite_, dump_);
     DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
 
     DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";

src/algorithms/telemetry_decoder/adapters/glonass_l1_ca_telemetry_decoder.h

@@ -2,6 +2,7 @@
  * \file glonass_l1_ca_telemetry_decoder.h
  * \brief Interface of an adapter of a GLONASS L1 C/A NAV data decoder block
  * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc

@@ -1,8 +1,9 @@
 /*!
- * \file galileo_e1b_telemetry_decoder_cc.cc
+ * \file glonass_l1_ca_telemetry_decoder_cc.cc
- * \brief Implementation of a Galileo INAV message demodulator block
+ * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
- * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
+ * to a TelemetryDecoderInterface
- * \author Javier Arribas 2013. jarribas(at)cttc.es
+ * \note Code added as part of GSoC 2017 program
+ * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -30,7 +31,7 @@
  */
 
 
-#include "galileo_e1b_telemetry_decoder_cc.h"
+#include "glonass_l1_ca_telemetry_decoder_cc.h"
 #include <cstdio>
 #include <cstdlib>
 #include <iostream>
@@ -67,7 +68,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     // initialize internal vars
     d_dump = dump;
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    LOG(INFO) << "Initializing GLONASS L1CA TELEMETRY PROCESSING";
+    LOG(INFO) << "Initializing GLONASS L1 CA TELEMETRY PROCESSING";
     // TODO. WHAT IS THIS?
     d_samples_per_symbol = ( GLONASS_L1_CODE_CHIP_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS ) / GLONASS_L1_CA_SYMBOL_RATE_BPS;
 
@@ -115,7 +116,17 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
 glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
 {
     delete d_preambles_symbols;
-    d_dump_file.close();
+    if(d_dump_file.is_open() == true)
+        {
+            try
+            {
+                    d_dump_file.close();
+            }
+            catch(const std::exception & ex)
+            {
+                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
+            }
+        }
 }
 
 

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h

@@ -1,6 +1,8 @@
 /*!
  * \file glonass_l1_ca_telemetry_decoder_cc.h
- * \brief Interface of a GLONASS GNAV message demodulator block
+ * \brief Implementation of an adapter of a GLONASS L1 C/A NAV data decoder block
+ * to a TelemetryDecoderInterface
+ * \note Code added as part of GSoC 2017 program
  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
  *
  * -------------------------------------------------------------------------
@@ -40,7 +42,6 @@
 #include "glonass_gnav_navigation_message.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_almanac.h"
-#include "glonass_gnav_iono.h"
 #include "glonass_gnav_utc_model.h"
 #include "gnss_synchro.h"
 
@@ -53,15 +54,17 @@ typedef boost::shared_ptr<glonass_l1_ca_telemetry_decoder_cc> glonass_l1_ca_tele
 glonass_l1_ca_telemetry_decoder_cc_sptr glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
 
 /*!
- * \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD
+ * \brief This class implements a block that decodes the GNAV data defined in GLONASS ICD v5.1
+ * \note Code added as part of GSoC 2017 program
+ * \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
  *
  */
 class glonass_l1_ca_telemetry_decoder_cc : public gr::block
 {
 public:
-    ~glonass_l1_ca_telemetry_decoder_cc();
+    ~glonass_l1_ca_telemetry_decoder_cc();          //!< Class destructor
-    void set_satellite(Gnss_Satellite satellite);  //!< Set satellite PRN
+    void set_satellite(Gnss_Satellite satellite);   //!< Set satellite PRN
-    void set_channel(int channel);                 //!< Set receiver's channel
+    void set_channel(int channel);                  //!< Set receiver's channel
 
     /*!
      * \brief This is where all signal processing takes place
@@ -74,7 +77,7 @@ private:
     glonass_l1_ca_make_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
     glonass_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, bool dump);
 
-    void decode_word(double *symbols,int frame_length);
+    void decode_word(double *symbols);
 
     //!< Preamble decoding
     unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
@@ -91,11 +94,11 @@ private:
     unsigned int d_stat;                    //!< Status of decoder
     bool d_flag_frame_sync;                 //!< Indicate when a frame sync is achieved
     bool d_flag_parity;                     //!< Flag indicating when parity check was achieved (crc check)
-    bool d_flag_preamble;
+    bool d_flag_preamble;                   //!< Flag indicating when preamble was found
-    int d_CRC_error_counter;
+    int d_CRC_error_counter;                //!< Number of failed CRC operations
-    bool flag_TOW_set;      //!<
+    bool flag_TOW_set;                      //!< Indicates when time of week is set
-    double delta_t;         //!< GPS-GLONASS time offset
+    double delta_t;                         //!< GPS-GLONASS time offset
-    
+
     //!< Navigation Message variable
     Glonass_Gnav_Navigation_Message d_nav;
 

src/core/receiver/gnss_block_factory.cc

@@ -92,6 +92,7 @@
 #include "gps_l2c_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
 #include "galileo_e5a_telemetry_decoder.h"
+#include "glonass_l1_ca_telemetry_decoder.h"
 #include "sbas_l1_telemetry_decoder.h"
 #include "hybrid_observables.h"
 #include "rtklib_pvt.h"
@@ -1203,6 +1204,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
+        {
+            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
 
     // OBSERVABLES -----------------------------------------------------------------
     else if ((implementation.compare("Hybrid_Observables") == 0) || (implementation.compare("GPS_L1_CA_Observables") == 0) || (implementation.compare("GPS_L2C_Observables") == 0) ||
@@ -1347,6 +1354,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
                     out_streams));
             block = std::move(block_);
         }
+    else if (implementation.compare("GLONASS_L1_CA_Telemetry_Decoder") == 0)
+        {
+            std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
+                    out_streams));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.