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Code Issues Releases Wiki Activity

Code cleaning

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This commit is contained in:
Carles Fernandez
2024-07-23 11:16:45 +02:00
parent 6c9f999583
commit 39f94dcbe6
10 changed files with 360 additions and 482 deletions
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28
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
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@@ -369,6 +369,8 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
// 1. De-interleave
std::vector<float> page_part_symbols_soft_value(frame_length);
deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_soft_value.data());
bool flag_osnma_adkd_4_gst = false;
bool flag_osnma_adkd_4_utc = false;
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
@@ -441,33 +443,31 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
// 4. Push the new navigation data to the queues
// extract OSNMA bits, reset container.
bool check_size_is_ok = d_inav_nav.get_osnma_adkd_0_12_nav_bits().size() == 549;
if(check_size_is_ok)
if (check_size_is_ok)
{
std::cout << "Galileo OSNMA: new ADKD=0/12 navData from " << d_satellite << " at TOW_sf=" << d_inav_nav.get_TOW5() - 25 <<std::endl;
const auto tmp_obj_osnma = std::make_shared<std::tuple<uint32_t, std::string,uint32_t>>( // < PRNd , navDataBits, TOW_Sosf>
DLOG(INFO) << "Galileo OSNMA: new ADKD=0/12 navData from " << d_satellite << " at TOW_sf=" << d_inav_nav.get_TOW5() - 25;
const auto tmp_obj_osnma = std::make_shared<std::tuple<uint32_t, std::string, uint32_t>>( // < PRNd , navDataBits, TOW_Sosf>
d_satellite.get_PRN(),
d_inav_nav.get_osnma_adkd_0_12_nav_bits(),
d_inav_nav.get_TOW5() - 25);
this->message_port_pub(pmt::mp("OSNMA_from_TLM"), pmt::make_any(tmp_obj_osnma));
LOG(INFO) << "|---> Galileo OSNMA :: Sending Telemetry Decoder NavData (PRN_d="<< static_cast<int>(d_satellite.get_PRN()) << ", TOW=" << static_cast<int>(d_inav_nav.get_TOW5() - 25) <<")";//: 0b" << d_inav_nav.get_osnma_adkd_0_12_nav_bits();
DLOG(INFO) << "|---> Galileo OSNMA :: Sending Telemetry Decoder NavData (PRN_d=" << static_cast<int>(d_satellite.get_PRN()) << ", TOW=" << static_cast<int>(d_inav_nav.get_TOW5() - 25) << ")"; //: 0b" << d_inav_nav.get_osnma_adkd_0_12_nav_bits();
d_inav_nav.reset_osnma_nav_bits_adkd0_12();
}
check_size_is_ok = d_inav_nav.get_osnma_adkd_4_nav_bits().size() == 141;
if(check_size_is_ok)
if (check_size_is_ok)
{
std::cout << "Galileo OSNMA: new ADKD=4 navData from " << d_satellite <<" at TOW_sf=" << d_inav_nav.get_TOW6() - 5 <<std::endl;
const auto tmp_obj = std::make_shared<std::tuple<uint32_t, std::string,uint32_t>>( // < PRNd , navDataBits, TOW_Sosf> // TODO conversion from W6 to W_Start_of_subframe
DLOG(INFO) << "Galileo OSNMA: new ADKD=4 navData from " << d_satellite << " at TOW_sf=" << d_inav_nav.get_TOW6() - 5;
const auto tmp_obj = std::make_shared<std::tuple<uint32_t, std::string, uint32_t>>( // < PRNd , navDataBits, TOW_Sosf> // TODO conversion from W6 to W_Start_of_subframe
d_satellite.get_PRN(),
d_inav_nav.get_osnma_adkd_4_nav_bits(),
d_inav_nav.get_TOW6() - 5);
this->message_port_pub(pmt::mp("OSNMA_from_TLM"), pmt::make_any(tmp_obj));
LOG(INFO) << "|---> Galileo OSNMA :: Sending Telemetry Decoder NavData (PRN_d="<< static_cast<int>(d_satellite.get_PRN()) << ", TOW=" << static_cast<int>(d_inav_nav.get_TOW6() - 5) <<")";//: 0b" << d_inav_nav.get_osnma_adkd_4_nav_bits();
DLOG(INFO) << "|---> Galileo OSNMA :: Sending Telemetry Decoder NavData (PRN_d=" << static_cast<int>(d_satellite.get_PRN()) << ", TOW=" << static_cast<int>(d_inav_nav.get_TOW6() - 5) << ")"; //: 0b" << d_inav_nav.get_osnma_adkd_4_nav_bits();
d_inav_nav.reset_osnma_nav_bits_adkd4();
}
if (d_inav_nav.have_new_ephemeris() == true) // C: tells if W1-->W4 available from same blcok (and W5!)
{
// get object for this SV (mandatory)
@@ -499,8 +499,6 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
d_first_eph_sent = true; // do not send reduced CED anymore, since we have the full ephemeris set
// d_flag_osnma_adkd_0_12 = true; // W1-> W5 available
}
else
{
@@ -586,7 +584,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
d_flag_osnma_adkd_4_utc = true;
flag_osnma_adkd_4_utc = true;
}
if (d_inav_nav.have_new_almanac() == true) // flag_almanac_4 tells if W10 available.
@@ -621,11 +619,11 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
DLOG(INFO) << "d_nav.WN_0=" << d_inav_nav.get_Galileo_week();
d_flag_osnma_adkd_4_gst = true;
flag_osnma_adkd_4_gst = true;
}
// get osnma message if the needed nav data is available
bool adkd_4_nav_data_available = d_flag_osnma_adkd_4_utc && d_flag_osnma_adkd_4_gst; // supposition: data did not change bt. flags reset and now.
bool adkd_4_nav_data_available = flag_osnma_adkd_4_utc && flag_osnma_adkd_4_gst; // supposition: data did not change bt. flags reset and now.
// bool adkd_4_nav_data_available = d_inav_nav.get_osnma_adkd_4_nav_bits().size() == 141; // newApproach: let decoder decide when block starts and let it fill the data, and just check for length
if(adkd_4_nav_data_available /*&& d_inav_nav.is_TOW5_set() not needed cause W6 has TOW also.*/)

3
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@@ -155,9 +155,6 @@ private:
bool d_there_are_e1_channels;
bool d_there_are_e6_channels;
bool d_use_ced;
bool d_flag_osnma_adkd_0_12; // flag to indicate if the ephemeris is complete for OSNMA processing
bool d_flag_osnma_adkd_4_gst; // flag to indicate if the GST conversion parameters are complete for OSNMA processing
bool d_flag_osnma_adkd_4_utc; // flag to indicate if the iono correction and time is complete for OSNMA processing
};