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https://github.com/gnss-sdr/gnss-sdr
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Code cleaning
This commit is contained in:
Carles Fernandez
parent
6c9f999583
commit
39f94dcbe6
@ -369,6 +369,8 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
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// 1. De-interleave
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std::vector<float> page_part_symbols_soft_value(frame_length);
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deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_soft_value.data());
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bool flag_osnma_adkd_4_gst = false;
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bool flag_osnma_adkd_4_utc = false;
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// 2. Viterbi decoder
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// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
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@ -443,31 +445,29 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
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bool check_size_is_ok = d_inav_nav.get_osnma_adkd_0_12_nav_bits().size() == 549;
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if (check_size_is_ok)
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{
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std::cout << "Galileo OSNMA: new ADKD=0/12 navData from " << d_satellite << " at TOW_sf=" << d_inav_nav.get_TOW5() - 25 <<std::endl;
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DLOG(INFO) << "Galileo OSNMA: new ADKD=0/12 navData from " << d_satellite << " at TOW_sf=" << d_inav_nav.get_TOW5() - 25;
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const auto tmp_obj_osnma = std::make_shared<std::tuple<uint32_t, std::string, uint32_t>>( // < PRNd , navDataBits, TOW_Sosf>
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d_satellite.get_PRN(),
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d_inav_nav.get_osnma_adkd_0_12_nav_bits(),
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d_inav_nav.get_TOW5() - 25);
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this->message_port_pub(pmt::mp("OSNMA_from_TLM"), pmt::make_any(tmp_obj_osnma));
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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();
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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();
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d_inav_nav.reset_osnma_nav_bits_adkd0_12();
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}
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check_size_is_ok = d_inav_nav.get_osnma_adkd_4_nav_bits().size() == 141;
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if (check_size_is_ok)
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{
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std::cout << "Galileo OSNMA: new ADKD=4 navData from " << d_satellite <<" at TOW_sf=" << d_inav_nav.get_TOW6() - 5 <<std::endl;
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DLOG(INFO) << "Galileo OSNMA: new ADKD=4 navData from " << d_satellite << " at TOW_sf=" << d_inav_nav.get_TOW6() - 5;
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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
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d_satellite.get_PRN(),
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d_inav_nav.get_osnma_adkd_4_nav_bits(),
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d_inav_nav.get_TOW6() - 5);
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this->message_port_pub(pmt::mp("OSNMA_from_TLM"), pmt::make_any(tmp_obj));
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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();
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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();
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d_inav_nav.reset_osnma_nav_bits_adkd4();
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}
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if (d_inav_nav.have_new_ephemeris() == true) // C: tells if W1-->W4 available from same blcok (and W5!)
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{
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// get object for this SV (mandatory)
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@ -499,8 +499,6 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
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}
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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d_first_eph_sent = true; // do not send reduced CED anymore, since we have the full ephemeris set
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// d_flag_osnma_adkd_0_12 = true; // W1-> W5 available
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}
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else
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{
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@ -586,7 +584,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
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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)));
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DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
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d_flag_osnma_adkd_4_utc = true;
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flag_osnma_adkd_4_utc = true;
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}
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if (d_inav_nav.have_new_almanac() == true) // flag_almanac_4 tells if W10 available.
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@ -621,11 +619,11 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
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DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
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DLOG(INFO) << "d_nav.WN_0=" << d_inav_nav.get_Galileo_week();
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d_flag_osnma_adkd_4_gst = true;
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flag_osnma_adkd_4_gst = true;
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}
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// get osnma message if the needed nav data is available
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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.
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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.
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// 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
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if(adkd_4_nav_data_available /*&& d_inav_nav.is_TOW5_set() not needed cause W6 has TOW also.*/)
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@ -155,9 +155,6 @@ private:
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bool d_there_are_e1_channels;
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bool d_there_are_e6_channels;
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bool d_use_ced;
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bool d_flag_osnma_adkd_0_12; // flag to indicate if the ephemeris is complete for OSNMA processing
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bool d_flag_osnma_adkd_4_gst; // flag to indicate if the GST conversion parameters are complete for OSNMA processing
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bool d_flag_osnma_adkd_4_utc; // flag to indicate if the iono correction and time is complete for OSNMA processing
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};
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@ -25,6 +25,7 @@
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#include "osnma_dsm_reader.h" // for OSNMA_DSM_Reader
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#include "osnma_helper.h"
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#include <gnuradio/io_signature.h> // for gr::io_signature::make
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#include <algorithm>
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#include <cmath>
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#include <cstddef>
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#include <iomanip> // for std::setfill
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@ -32,6 +33,7 @@
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#include <iostream>
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#include <numeric> // for std::accumulate
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#include <sstream> // std::stringstream
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#include <tuple>
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#include <typeinfo> // for typeid
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#include <utility>
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@ -126,15 +128,15 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
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// iono data => 549 bits, utc data, 141 bits.
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if (nav_data.size() == 549)
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{
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// LOG(INFO) << "Galileo OSNMA: received ADKD=0/12 navData, PRN_d (" << PRNa << ") "
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// LOG(INFO) << "Galileo OSNMA: received ADKD=0/12 OSNMA_NavData, PRN_d (" << PRNa << ") "
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// << "TOW_sf=" << TOW;
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d_satellite_nav_data[PRNa][TOW].ephemeris_iono_vector_2 = nav_data;
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d_satellite_nav_data[PRNa][TOW].set_ephemeris_iono_data(nav_data);
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}
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else if (nav_data.size() == 141)
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{
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// LOG(INFO) << "Galileo OSNMA: received ADKD=4 navData, PRN_d (" << PRNa << ") "
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// LOG(INFO) << "Galileo OSNMA: received ADKD=4 OSNMA_NavData, PRN_d (" << PRNa << ") "
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// << "TOW_sf=" << TOW;
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d_satellite_nav_data[PRNa][TOW].utc_vector_2 = nav_data;
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d_satellite_nav_data[PRNa][TOW].set_utc_data(nav_data);
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}
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else
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{
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@ -614,7 +616,7 @@ void osnma_msg_receiver::read_and_process_mack_block(const std::shared_ptr<OSNMA
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index = index + 4;
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}
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// update the structure with newly coming NavData
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// update the structure with newly coming OSNMA_NavData
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d_osnma_data.d_nav_data.init(osnma_msg);
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if (d_kroot_verified || d_tesla_key_verified || d_osnma_data.d_dsm_kroot_message.ts != 0 /*mack parser needs to know the tag size, otherwise cannot parse mack messages*/) // C: 4 ts < ts < 10
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@ -626,7 +628,7 @@ void osnma_msg_receiver::read_and_process_mack_block(const std::shared_ptr<OSNMA
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read_mack_body();
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process_mack_message();
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// TODO - shorten the MACK processing for the cases where no TK verified or no Kroot verified (warm and cold start)
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// still, for instance the NAvData and Mack storage (within process_mack_message) makes sense.
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// still, for instance the OSNMA_NavData and Mack storage (within process_mack_message) makes sense.
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}
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}
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@ -651,7 +653,7 @@ void osnma_msg_receiver::read_mack_header()
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}
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if (lt_bits == 0)
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{
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return; // C: TODO if Tag length is 0, what is the action? no verification possible of NavData for sure.
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return; // C: TODO if Tag length is 0, what is the action? no verification possible of OSNMA_NavData for sure.
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}
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uint16_t macseq = 0;
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uint8_t cop = 0;
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@ -882,13 +884,13 @@ void osnma_msg_receiver::read_mack_body()
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* @brief Verifies the tags transmitted in the past.
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*
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* \details This function is responsible for processing the MACK message received (480 bits) at time SF(i).
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* It stores the last 10 MACK messages and the last 11 NavData messages.
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* It stores the last 10 MACK messages and the last 11 OSNMA_NavData messages.
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* Then attempts to verify the Tesla Key by computing the number of hashes of distance between the key-to-verify and the
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* Kroot and iteratively hashing the result, until the required number of hashes is achieved.
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* The result is then compared with the Kroot. If the two values match, the Tesla key is verified.
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* It also performs MACSEQ validation and compares the ADKD of Mack tags with MACLT defined ADKDs.
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* Finally, it verifies the tags.
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* \pre Kroot or already a TESLA key shall be available. Depending on the ADKD of the tag, NavData of SF(i-2)...SF(i-11)
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* \pre Kroot or already a TESLA key shall be available. Depending on the ADKD of the tag, OSNMA_NavData of SF(i-2)...SF(i-11)
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* \post Number of tags bits verified for each ADKD. MACSEQ verification success
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* @param osnma_msg A reference to OSNMA_msg containing the MACK message to be processed.
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*/
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@ -908,12 +910,12 @@ void osnma_msg_receiver::process_mack_message()
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}
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}
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// verify tesla key and add it to the container of verified keys if successful
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if (d_tesla_keys.find(d_osnma_data.d_nav_data.TOW_sf0) == d_tesla_keys.end()) // check if already available => no need to verify
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if (d_tesla_keys.find(d_osnma_data.d_nav_data.get_tow_sf0()) == d_tesla_keys.end()) // check if already available => no need to verify
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{
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bool retV = verify_tesla_key(d_osnma_data.d_mack_message.key, d_osnma_data.d_nav_data.TOW_sf0);
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bool retV = verify_tesla_key(d_osnma_data.d_mack_message.key, d_osnma_data.d_nav_data.get_tow_sf0());
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if (retV)
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{
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d_tesla_keys.insert(std::pair<uint32_t, std::vector<uint8_t>>(d_osnma_data.d_nav_data.TOW_sf0, d_osnma_data.d_mack_message.key));
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d_tesla_keys.insert(std::pair<uint32_t, std::vector<uint8_t>>(d_osnma_data.d_nav_data.get_tow_sf0(), d_osnma_data.d_mack_message.key));
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}
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}
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@ -948,7 +950,6 @@ void osnma_msg_receiver::process_mack_message()
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}
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LOG(INFO) << "Galileo OSNMA: d_tags_awaiting_verify :: size: " << d_tags_awaiting_verify.size();
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mack = d_macks_awaiting_MACSEQ_verification.erase(mack);
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}
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else
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{
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@ -969,7 +970,7 @@ void osnma_msg_receiver::process_mack_message()
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/* TODO - take into account:
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* - COP: if
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* - ADKD type
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* - NavData the tag verifies (min. number of bits verified to consider NavData OK)
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* - OSNMA_NavData the tag verifies (min. number of bits verified to consider OSNMA_NavData OK)
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* */
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if (ret)
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{
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@ -1020,7 +1021,7 @@ void osnma_msg_receiver::process_mack_message()
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<< static_cast<unsigned>(it.second.PRN_d) << std::endl;
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}
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}
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else if (it.second.TOW > d_osnma_data.d_nav_data.TOW_sf0)
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else if (it.second.TOW > d_osnma_data.d_nav_data.get_tow_sf0())
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{
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// TODO - I dont understand logic. This needs to be reviewed.
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// case 1: adkd=12 and t.Tow + 300 < current TOW
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@ -1212,26 +1213,6 @@ bool osnma_msg_receiver::verify_tag(const Tag& tag) const
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// Compare computed tag with received one truncated
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if (tag.received_tag == computed_mac)
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{
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LOG(INFO) << "Galileo OSNMA: Tag verification :: SUCCESS for tag Id="
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<< tag.tag_id
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<< ", value=0x" << std::setfill('0') << std::setw(10) << std::hex << std::uppercase
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<< tag.received_tag << std::dec
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<< ", TOW="
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<< tag.TOW
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<< ", ADKD="
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<< static_cast<unsigned>(tag.ADKD)
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<< ", PRNa="
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<< static_cast<unsigned>(tag.PRNa)
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<< ", PRNd="
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<< static_cast<unsigned>(tag.PRN_d);
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std::cout << "Galileo OSNMA: Tag verification :: SUCCESS for tag Id="
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<< tag.tag_id
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<< ", ADKD="
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<< static_cast<unsigned>(tag.ADKD)
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<< ", PRNa="
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<< static_cast<unsigned>(tag.PRNa)
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<< ", PRNd="
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<< static_cast<unsigned>(tag.PRN_d) << std::endl;
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return true;
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}
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return false;
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@ -1267,7 +1248,7 @@ std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag) const
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const auto it2 = it->second.find(tag.TOW - 30);
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if (it2 != it->second.cend())
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{
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applicable_nav_data = it2->second.ephemeris_iono_vector_2;
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applicable_nav_data = it2->second.get_ephemeris_iono_data();
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}
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}
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// LOG(INFO) << "|---> Galileo OSNMA :: applicable NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data;
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@ -1280,10 +1261,10 @@ std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag) const
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const auto it2 = it->second.find(tag.TOW - 30);
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if (it2 != it->second.cend())
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{
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applicable_nav_data = it2->second.utc_vector_2;
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applicable_nav_data = it2->second.get_utc_data();
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}
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}
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// LOG(INFO) << "|---> Galileo OSNMA :: applicable NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data;
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// LOG(INFO) << "|---> Galileo OSNMA :: applicable OSNMA_NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data;
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}
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else
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{
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@ -1292,7 +1273,7 @@ std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag) const
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// convert std::string to vector<uint8_t>
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applicable_nav_data_bytes = d_helper->bytes(applicable_nav_data);
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// Convert and add NavData bytes into the message, taking care of that NMAS has only 2 bits
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// Convert and add OSNMA_NavData bytes into the message, taking care of that NMAS has only 2 bits
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for (uint8_t byte : applicable_nav_data_bytes)
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{
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m.back() |= (byte >> 2); // First take the 6 MSB bits of byte and add to m
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@ -1322,7 +1303,7 @@ std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag) const
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}
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void osnma_msg_receiver::add_satellite_data(uint32_t SV_ID, uint32_t TOW, const NavData& data)
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void osnma_msg_receiver::add_satellite_data(uint32_t SV_ID, uint32_t TOW, const OSNMA_NavData& data)
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{
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// control size of container
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while (d_satellite_nav_data[SV_ID].size() >= 25)
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@ -1597,7 +1578,7 @@ bool osnma_msg_receiver::tag_has_nav_data_available(const Tag& t) const
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{
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// PRN was found, check if TOW exists in inner map
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// LOG(INFO) << "Galileo OSNMA: hasData = true " << std::endl;
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std::map<uint32_t, NavData> tow_map = prn_it->second;
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std::map<uint32_t, OSNMA_NavData> tow_map = prn_it->second;
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auto tow_it = tow_map.find(t.TOW - 30);
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if (tow_it != tow_map.end())
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{
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@ -77,7 +77,7 @@ private:
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void read_mack_header();
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void read_mack_body();
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void process_mack_message();
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void add_satellite_data(uint32_t SV_ID, uint32_t TOW, const NavData& data);
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void add_satellite_data(uint32_t SV_ID, uint32_t TOW, const OSNMA_NavData& data);
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void remove_verified_tags();
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void control_tags_awaiting_verify_size();
|
||||
void display_data();
|
||||
@ -95,7 +95,7 @@ private:
|
||||
std::vector<uint8_t> hash_chain(uint32_t num_of_hashes_needed, const std::vector<uint8_t>& key, uint32_t GST_SFi, const uint8_t lk_bytes) const;
|
||||
std::vector<MACK_tag_and_info> verify_macseq_new(const MACK_message& mack);
|
||||
|
||||
std::map<uint32_t, std::map<uint32_t, NavData>> d_satellite_nav_data; // map holding NavData sorted by SVID (first key) and TOW (second key).
|
||||
std::map<uint32_t, std::map<uint32_t, OSNMA_NavData>> d_satellite_nav_data; // map holding OSNMA_NavData sorted by SVID (first key) and TOW (second key).
|
||||
std::map<uint32_t, std::vector<uint8_t>> d_tesla_keys; // tesla keys over time, sorted by TOW
|
||||
std::multimap<uint32_t, Tag> d_tags_awaiting_verify; // container with tags to verify from arbitrary SVIDs, sorted by TOW
|
||||
|
||||
|
||||
@ -215,6 +215,7 @@ void Galileo_Inav_Message::split_page(std::string page_string, int32_t flag_even
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// C: tells if W1-->W4 available from same blcok
|
||||
bool Galileo_Inav_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
|
||||
{
|
||||
@ -349,6 +350,7 @@ bool Galileo_Inav_Message::have_new_ephemeris() // Check if we have a new ephem
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
// C: tells if W5 is available
|
||||
bool Galileo_Inav_Message::have_new_iono_and_GST() // Check if we have a new iono data set stored in the galileo navigation class
|
||||
{
|
||||
@ -361,6 +363,7 @@ bool Galileo_Inav_Message::have_new_iono_and_GST() // Check if we have a new io
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
// C: tells if W6 is available
|
||||
bool Galileo_Inav_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
|
||||
{
|
||||
@ -373,6 +376,7 @@ bool Galileo_Inav_Message::have_new_utc_model() // Check if we have a new utc d
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
// flag_almanac_4 tells if W10 available.
|
||||
bool Galileo_Inav_Message::have_new_almanac() // Check if we have a new almanac data set stored in the galileo navigation class
|
||||
{
|
||||
@ -1442,17 +1446,23 @@ bool Galileo_Inav_Message::have_new_nma()
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
std::string Galileo_Inav_Message::get_osnma_adkd_4_nav_bits()
|
||||
{
|
||||
nav_bits_adkd_4 = nav_bits_word_6 + nav_bits_word_10;
|
||||
|
||||
return nav_bits_adkd_4;
|
||||
}
|
||||
|
||||
|
||||
std::string Galileo_Inav_Message::get_osnma_adkd_0_12_nav_bits()
|
||||
{
|
||||
nav_bits_adkd_0_12 = nav_bits_word_1 + nav_bits_word_2 + nav_bits_word_3 + nav_bits_word_4 + nav_bits_word_5;
|
||||
return nav_bits_adkd_0_12;
|
||||
}
|
||||
|
||||
|
||||
void Galileo_Inav_Message::reset_osnma_nav_bits_adkd0_12()
|
||||
{
|
||||
nav_bits_word_1 = "";
|
||||
@ -1461,6 +1471,8 @@ void Galileo_Inav_Message::reset_osnma_nav_bits_adkd0_12()
|
||||
nav_bits_word_4 = "";
|
||||
nav_bits_word_5 = "";
|
||||
}
|
||||
|
||||
|
||||
void Galileo_Inav_Message::reset_osnma_nav_bits_adkd4()
|
||||
{
|
||||
nav_bits_word_6 = "";
|
||||
|
||||
@ -58,8 +58,6 @@ public:
|
||||
Galileo_Ephemeris EphemerisData{};
|
||||
Galileo_Iono IonoData{};
|
||||
Galileo_Utc_Model UtcModelData{};
|
||||
|
||||
|
||||
};
|
||||
|
||||
/*!
|
||||
|
||||
@ -15,158 +15,41 @@
|
||||
*/
|
||||
|
||||
#include "osnma_data.h"
|
||||
#include <cstring>
|
||||
#include <iostream>
|
||||
|
||||
/**
|
||||
* @brief Constructs a NavData object with the given osnma_msg.
|
||||
* \details Packs the ephemeris, iono and utc data from the current subframe into the NavData structure. It also gets the PRNa and the GST.
|
||||
* @param osnma_msg The shared pointer to the OSNMA_msg object.
|
||||
*/
|
||||
|
||||
uint32_t Tag::id_counter = 0;
|
||||
void NavData::init(const std::shared_ptr<OSNMA_msg> &osnma_msg)
|
||||
|
||||
|
||||
void OSNMA_NavData::init(const std::shared_ptr<OSNMA_msg>& osnma_msg)
|
||||
{
|
||||
EphemerisData = osnma_msg->EphemerisData;
|
||||
IonoData = osnma_msg->IonoData;
|
||||
UtcData = osnma_msg->UtcModelData;
|
||||
generate_eph_iono_vector();
|
||||
generate_utc_vector();
|
||||
PRNa = osnma_msg->PRN;
|
||||
WN_sf0 = osnma_msg->WN_sf0;
|
||||
TOW_sf0 = osnma_msg->TOW_sf0;
|
||||
|
||||
// new parsing, directly parsing bits
|
||||
// ephemeris_iono_vector_2 = osnma_msg->EphemerisClockAndStatusData_2;
|
||||
// utc_vector_2 = osnma_msg->TimingData_2;
|
||||
};
|
||||
void NavData::generate_eph_iono_vector()
|
||||
{
|
||||
ephemeris_iono_vector.clear();
|
||||
uint64_t bit_buffer = 0; // variable to store the bits to be extracted, it can contain bits from different variables
|
||||
int bit_count = 0; // Number of bits in the buffer, i.e. to be extracted
|
||||
|
||||
// create structure to hold the variables to store into the vector along with their bit size
|
||||
std::vector<std::pair<void*, int>> variables = {
|
||||
// data from word type 1
|
||||
{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
|
||||
{static_cast<void*>(&EphemerisData.toe), sizeof(EphemerisData.toe) * 8},
|
||||
{static_cast<void*>(&EphemerisData.M_0), sizeof(EphemerisData.M_0) * 8},
|
||||
{static_cast<void*>(&EphemerisData.ecc), sizeof(EphemerisData.ecc) * 8},
|
||||
{static_cast<void*>(&EphemerisData.sqrtA), sizeof(EphemerisData.sqrtA) * 8},
|
||||
// data from word type 2
|
||||
{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
|
||||
{static_cast<void*>(&EphemerisData.OMEGA_0), sizeof(EphemerisData.OMEGA_0) * 8},
|
||||
{static_cast<void*>(&EphemerisData.i_0), sizeof(EphemerisData.i_0) * 8},
|
||||
{static_cast<void*>(&EphemerisData.omega), sizeof(EphemerisData.omega) * 8},
|
||||
{static_cast<void*>(&EphemerisData.idot), sizeof(EphemerisData.idot) * 8},
|
||||
{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
|
||||
// data from word type 3
|
||||
{static_cast<void*>(&EphemerisData.OMEGAdot), sizeof(EphemerisData.OMEGAdot) * 8},
|
||||
{static_cast<void*>(&EphemerisData.delta_n), sizeof(EphemerisData.delta_n) * 8},
|
||||
{static_cast<void*>(&EphemerisData.Cuc), sizeof(EphemerisData.Cuc) * 8},
|
||||
{static_cast<void*>(&EphemerisData.Cus), sizeof(EphemerisData.Cus) * 8},
|
||||
{static_cast<void*>(&EphemerisData.Crc), sizeof(EphemerisData.Crc) * 8},
|
||||
{static_cast<void*>(&EphemerisData.Crs), sizeof(EphemerisData.Crs) * 8},
|
||||
{static_cast<void*>(&EphemerisData.SISA), sizeof(EphemerisData.SISA) * 8},
|
||||
// data from word type 4
|
||||
{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
|
||||
{static_cast<void*>(&EphemerisData.PRN), sizeof(EphemerisData.PRN) * 8},
|
||||
{static_cast<void*>(&EphemerisData.Cic), sizeof(EphemerisData.Cic) * 8},
|
||||
{static_cast<void*>(&EphemerisData.Cis), sizeof(EphemerisData.Cis) * 8},
|
||||
{static_cast<void*>(&EphemerisData.toe), sizeof(EphemerisData.toe) * 8},
|
||||
{static_cast<void*>(&EphemerisData.af0), sizeof(EphemerisData.af0) * 8},
|
||||
{static_cast<void*>(&EphemerisData.af1), sizeof(EphemerisData.af1) * 8},
|
||||
{static_cast<void*>(&EphemerisData.af2), sizeof(EphemerisData.af2) * 8},
|
||||
// data from word type 5
|
||||
{static_cast<void*>(&IonoData.ai0), sizeof(IonoData.ai0) * 8},
|
||||
{static_cast<void*>(&IonoData.ai1), sizeof(IonoData.ai1) * 8},
|
||||
{static_cast<void*>(&IonoData.ai2), sizeof(IonoData.ai2) * 8},
|
||||
{static_cast<void*>(&IonoData.Region1_flag), sizeof(IonoData.Region1_flag) * 8},
|
||||
{static_cast<void*>(&IonoData.Region2_flag), sizeof(IonoData.Region2_flag) * 8},
|
||||
{static_cast<void*>(&IonoData.Region3_flag), sizeof(IonoData.Region3_flag) * 8},
|
||||
{static_cast<void*>(&IonoData.Region4_flag), sizeof(IonoData.Region4_flag) * 8},
|
||||
{static_cast<void*>(&IonoData.Region5_flag), sizeof(IonoData.Region5_flag) * 8},
|
||||
{static_cast<void*>(&EphemerisData.BGD_E1E5a), sizeof(EphemerisData.BGD_E1E5a) * 8},
|
||||
{static_cast<void*>(&EphemerisData.BGD_E1E5b), sizeof(EphemerisData.BGD_E1E5b) * 8},
|
||||
{static_cast<void*>(&EphemerisData.E5b_HS), sizeof(EphemerisData.E5b_HS) * 8},
|
||||
{static_cast<void*>(&EphemerisData.E1B_HS), sizeof(EphemerisData.E1B_HS) * 8},
|
||||
{static_cast<void*>(&EphemerisData.E5b_DVS), sizeof(EphemerisData.E5b_DVS) * 8},
|
||||
{static_cast<void*>(&EphemerisData.E1B_DVS), sizeof(EphemerisData.E1B_DVS) * 8},
|
||||
};
|
||||
|
||||
for (auto& var : variables)
|
||||
{
|
||||
// extract the bits from the variable
|
||||
uint64_t binary_representation;
|
||||
memcpy(&binary_representation, var.first, var.second / 8);
|
||||
|
||||
// Append the bits to the buffer and update the bit count
|
||||
bit_buffer = (bit_buffer << var.second) | binary_representation;
|
||||
bit_count += var.second;
|
||||
// While there are 8 or more bits in the buffer
|
||||
while (bit_count >= 8)
|
||||
{
|
||||
// Extract the 8 bits starting from last bit position and add them to the vector
|
||||
uint8_t extracted_bits = (bit_buffer >> (bit_count - 8)) & 0xFF;
|
||||
ephemeris_iono_vector.push_back(extracted_bits);
|
||||
|
||||
// Remove the extracted bits from the buffer
|
||||
bit_count -= 8;
|
||||
bit_buffer = bit_buffer & ~(0xFF << bit_count);
|
||||
d_TOW_sf0 = osnma_msg->TOW_sf0;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// If there are any bits left in the buffer, add them to the vector
|
||||
if (bit_count > 0)
|
||||
std::string OSNMA_NavData::get_ephemeris_iono_data() const
|
||||
{
|
||||
ephemeris_iono_vector.push_back(static_cast<uint8_t>(bit_buffer));
|
||||
}
|
||||
return d_ephemeris_iono;
|
||||
}
|
||||
|
||||
void NavData::generate_utc_vector()
|
||||
|
||||
std::string OSNMA_NavData::get_utc_data() const
|
||||
{
|
||||
utc_vector.clear();
|
||||
uint64_t bit_buffer = 0;
|
||||
int bit_count = 0;
|
||||
return d_utc;
|
||||
}
|
||||
|
||||
std::vector<std::pair<void*, int>> variables = {
|
||||
{static_cast<void*>(&UtcData.A0), sizeof(UtcData.A0) * 8},
|
||||
{static_cast<void*>(&UtcData.A1), sizeof(UtcData.A1) * 8},
|
||||
{static_cast<void*>(&UtcData.Delta_tLS), sizeof(UtcData.Delta_tLS) * 8},
|
||||
{static_cast<void*>(&UtcData.tot), sizeof(UtcData.tot) * 8},
|
||||
{static_cast<void*>(&UtcData.WNot), sizeof(UtcData.WNot) * 8},
|
||||
{static_cast<void*>(&UtcData.WN_LSF), sizeof(UtcData.WN_LSF) * 8},
|
||||
{static_cast<void*>(&UtcData.DN), sizeof(UtcData.DN) * 8},
|
||||
{static_cast<void*>(&UtcData.Delta_tLSF), sizeof(UtcData.Delta_tLSF) * 8},
|
||||
{static_cast<void*>(&UtcData.A_0G), sizeof(UtcData.A_0G) * 8},
|
||||
{static_cast<void*>(&UtcData.A_1G), sizeof(UtcData.A_1G) * 8},
|
||||
{static_cast<void*>(&UtcData.t_0G), sizeof(UtcData.t_0G) * 8},
|
||||
{static_cast<void*>(&UtcData.WN_0G), sizeof(UtcData.WN_0G) * 8},
|
||||
};
|
||||
|
||||
for (auto& var : variables)
|
||||
uint32_t OSNMA_NavData::get_tow_sf0() const
|
||||
{
|
||||
uint64_t binary_representation;
|
||||
memcpy(&binary_representation, var.first, var.second / 8);
|
||||
return d_TOW_sf0;
|
||||
}
|
||||
|
||||
bit_buffer = (bit_buffer << var.second) | binary_representation;
|
||||
bit_count += var.second;
|
||||
|
||||
while (bit_count >= 8)
|
||||
void OSNMA_NavData::set_ephemeris_iono_data(const std::string& iono_data)
|
||||
{
|
||||
uint8_t extracted_bits = (bit_buffer >> (bit_count - 8)) & 0xFF;
|
||||
utc_vector.push_back(extracted_bits);
|
||||
|
||||
bit_count -= 8;
|
||||
bit_buffer = bit_buffer & ~(0xFF << bit_count);
|
||||
}
|
||||
d_ephemeris_iono = iono_data;
|
||||
}
|
||||
|
||||
if (bit_count > 0)
|
||||
|
||||
void OSNMA_NavData::set_utc_data(const std::string& utc_data)
|
||||
{
|
||||
utc_vector.push_back(static_cast<uint8_t>(bit_buffer));
|
||||
d_utc = utc_data;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -18,12 +18,10 @@
|
||||
#ifndef GNSS_SDR_OSNMA_DATA_H
|
||||
#define GNSS_SDR_OSNMA_DATA_H
|
||||
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_inav_message.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
#include "galileo_inav_message.h" // for OSNMA_msg
|
||||
#include <array>
|
||||
#include <cstdint>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
@ -121,31 +119,26 @@ public:
|
||||
MACK_header header;
|
||||
std::vector<MACK_tag_and_info> tag_and_info;
|
||||
std::vector<uint8_t> key;
|
||||
uint32_t TOW; // TODO duplicated variable, also in NavData
|
||||
uint32_t TOW; // TODO duplicated variable, also in OSNMA_NavData
|
||||
uint32_t WN;
|
||||
uint32_t PRNa;
|
||||
};
|
||||
|
||||
class NavData
|
||||
class OSNMA_NavData
|
||||
{
|
||||
public:
|
||||
NavData()=default;
|
||||
OSNMA_NavData() = default;
|
||||
void init(const std::shared_ptr<OSNMA_msg>& osnma_msg);
|
||||
std::vector<uint8_t> ephemeris_iono_vector{};
|
||||
std::string ephemeris_iono_vector_2{};
|
||||
std::vector<uint8_t> utc_vector{};
|
||||
std::string utc_vector_2{};
|
||||
uint32_t PRNa{};
|
||||
uint32_t WN_sf0{};
|
||||
uint32_t TOW_sf0{};
|
||||
std::string get_ephemeris_iono_data() const;
|
||||
std::string get_utc_data() const;
|
||||
uint32_t get_tow_sf0() const;
|
||||
void set_ephemeris_iono_data(const std::string& iono_data);
|
||||
void set_utc_data(const std::string& utc_data);
|
||||
|
||||
private:
|
||||
Galileo_Ephemeris EphemerisData;
|
||||
Galileo_Iono IonoData;
|
||||
Galileo_Utc_Model UtcData;
|
||||
void generate_eph_iono_vector(); // TODO pass data directly fro Telemetry Decoder (if bits are in the needed order)
|
||||
void generate_utc_vector(); // TODO
|
||||
|
||||
|
||||
std::string d_ephemeris_iono;
|
||||
std::string d_utc;
|
||||
uint32_t d_TOW_sf0{};
|
||||
};
|
||||
|
||||
/*!
|
||||
@ -161,19 +154,22 @@ public:
|
||||
DSM_PKR_message d_dsm_pkr_message;
|
||||
DSM_KROOT_message d_dsm_kroot_message;
|
||||
MACK_message d_mack_message;
|
||||
NavData d_nav_data;
|
||||
OSNMA_NavData d_nav_data;
|
||||
};
|
||||
|
||||
|
||||
class Tag
|
||||
{
|
||||
public:
|
||||
enum e_verification_status{
|
||||
enum e_verification_status
|
||||
{
|
||||
SUCCESS,
|
||||
FAIL,
|
||||
UNVERIFIED};
|
||||
UNVERIFIED
|
||||
};
|
||||
Tag(const MACK_tag_and_info& MTI, uint32_t TOW, uint32_t WN, uint32_t PRNa, uint8_t CTR) // standard tag constructor, for tags within Tag&Info field
|
||||
: tag_id(id_counter++),
|
||||
TOW(TOW), // TODO missing for build_message WN for GST computation, CTR, NMAS, NavData missing
|
||||
TOW(TOW), // TODO missing for build_message WN for GST computation, CTR, NMAS, OSNMA_NavData missing
|
||||
WN(WN),
|
||||
PRNa(PRNa),
|
||||
CTR(CTR),
|
||||
@ -188,7 +184,7 @@ public:
|
||||
}
|
||||
Tag(const MACK_message& mack) // constructor for Tag0
|
||||
: tag_id(id_counter++),
|
||||
TOW(mack.TOW), // TODO missing for build_message WN for GST computation, CTR, NMAS, NavData missing
|
||||
TOW(mack.TOW), // TODO missing for build_message WN for GST computation, CTR, NMAS, OSNMA_NavData missing
|
||||
WN(mack.WN),
|
||||
PRNa(mack.PRNa),
|
||||
CTR(1),
|
||||
|
||||
@ -1,13 +1,31 @@
|
||||
/*!
|
||||
* \file osmna_msg_receiver_testt.cc
|
||||
* \brief Tests for the osnma_msg_receiver class.
|
||||
* \author Carles Fernandez, 2023-2024. cfernandez(at)cttc.es
|
||||
* Cesare Ghionoiu Martinez, 2023-2024. c.ghionoiu-martinez@tu-braunschweig.de
|
||||
*
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2024 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gnss_crypto.h"
|
||||
#include "osnma_helper.h"
|
||||
#include "osnma_msg_receiver.h"
|
||||
#include <gtest/gtest.h>
|
||||
#include <bitset>
|
||||
#include <chrono>
|
||||
#include <fstream>
|
||||
#include <osnma_msg_receiver.h>
|
||||
#include <vector>
|
||||
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
#include "osnma_helper.h"
|
||||
#include "gnss_crypto.h"
|
||||
#include <glog/logging.h> // for LOG
|
||||
#include <filesystem>
|
||||
#else
|
||||
@ -21,11 +39,18 @@ struct TestVector
|
||||
std::vector<uint8_t> navBits;
|
||||
};
|
||||
|
||||
|
||||
// TODO - parametrize class for different configurations (config_1, config_2, etc.. potentially 5 or 6 more) an make sure wont affect current TEST_F
|
||||
// note: until the test is parametrized for configuration 1 and 2, in order to change between them you have to comment/uncomment the respective calls in this test, identified with comments // conf. 1/2
|
||||
// log_name, input_time, crtFilePath, merkleFilePath, testVectors
|
||||
class OsnmaMsgReceiverTest : public ::testing::Test
|
||||
{
|
||||
public:
|
||||
static std::vector<uint8_t> parseNavBits(const std::string& hex);
|
||||
static std::vector<TestVector> readTestVectorsFromFile(const std::string& filename);
|
||||
std::string bytes_to_str(const std::vector<uint8_t>& bytes);
|
||||
std::vector<uint8_t> extract_page_bytes(const TestVector& tv, const int byte_index, const int num_bytes);
|
||||
|
||||
protected:
|
||||
Osnma_Helper helper;
|
||||
osnma_msg_receiver_sptr osnma;
|
||||
@ -53,19 +78,12 @@ protected:
|
||||
std::string merkleFilePath = "/home/cgm/CLionProjects/osnma/data/OSNMA_MerkleTree_20230720113300_newPKID_2.xml";
|
||||
osnma = osnma_msg_receiver_make(crtFilePath, merkleFilePath);
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
static std::vector<uint8_t> parseNavBits(const std::string& hex);
|
||||
static std::vector<TestVector> readTestVectorsFromFile(const std::string& filename);
|
||||
std::string bytes_to_str(const std::vector<uint8_t>& bytes);
|
||||
std::vector<uint8_t> extract_page_bytes(const TestVector& tv, const int byte_index, const int num_bytes);
|
||||
};
|
||||
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, ComputeMerkleRoot)
|
||||
{
|
||||
// Arrange
|
||||
// ----------
|
||||
std::vector<uint8_t> computed_merkle_root;
|
||||
std::vector<uint8_t> expected_merkle_root = helper.convert_from_hex_string("A10C440F3AA62453526DB4AF76DF8D9410D35D8277397D7053C700D192702B0D");
|
||||
DSM_PKR_message dsm_pkr_message;
|
||||
@ -73,8 +91,8 @@ TEST_F(OsnmaMsgReceiverTest, ComputeMerkleRoot)
|
||||
dsm_pkr_message.npktid = 0x2;
|
||||
dsm_pkr_message.mid = 0x01;
|
||||
std::vector<uint8_t> base_leaf = helper.convert_from_hex_string("120303B2CE64BC207BDD8BC4DF859187FCB686320D63FFA091410FC158FBB77980EA");
|
||||
|
||||
std::vector<uint8_t> vec = helper.convert_from_hex_string("7CBE05D9970CFC9E22D0A43A340EF557624453A2E821AADEAC989C405D78BA06"
|
||||
std::vector<uint8_t> vec = helper.convert_from_hex_string(
|
||||
"7CBE05D9970CFC9E22D0A43A340EF557624453A2E821AADEAC989C405D78BA06"
|
||||
"956380BAB0D2C939EC6208151040CCFFCF1FB7156178FD1255BA0AECAAA253F7"
|
||||
"407B6C5DD4DF059FF8789474061301E1C34881DB7A367A913A3674300E21EAB1"
|
||||
"24EF508389B7D446C3E2ECE8D459FBBD3239A794906F5B1F92469C640164FD87");
|
||||
@ -82,18 +100,16 @@ TEST_F(OsnmaMsgReceiverTest, ComputeMerkleRoot)
|
||||
dsm_pkr_message.npk = helper.convert_from_hex_string("0303B2CE64BC207BDD8BC4DF859187FCB686320D63FFA091410FC158FBB77980EA");
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
computed_merkle_root = osnma->compute_merkle_root(dsm_pkr_message, base_leaf);
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
ASSERT_EQ(computed_merkle_root, expected_merkle_root);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, ComputeBaseLeaf)
|
||||
{
|
||||
// Arrange
|
||||
// ----------
|
||||
std::vector<uint8_t> expected_base_leaf = helper.convert_from_hex_string("120303B2CE64BC207BDD8BC4DF859187FCB686320D63FFA091410FC158FBB77980EA");
|
||||
DSM_PKR_message dsm_pkr_message;
|
||||
dsm_pkr_message.npkt = 0x01;
|
||||
@ -101,23 +117,24 @@ TEST_F(OsnmaMsgReceiverTest, ComputeBaseLeaf)
|
||||
dsm_pkr_message.npk = helper.convert_from_hex_string("0303B2CE64BC207BDD8BC4DF859187FCB686320D63FFA091410FC158FBB77980EA");
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
std::vector<uint8_t> computed_base_leaf = osnma->get_merkle_tree_leaves(dsm_pkr_message);
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
ASSERT_EQ(computed_base_leaf, expected_base_leaf);
|
||||
}
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, VerifyPublicKey){ // values taken from RG A.7
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, VerifyPublicKey)
|
||||
{
|
||||
// values taken from RG A.7
|
||||
// Arrange
|
||||
// ----------
|
||||
osnma->d_crypto->set_merkle_root(helper.convert_from_hex_string("A10C440F3AA62453526DB4AF76DF8D9410D35D8277397D7053C700D192702B0D"));
|
||||
DSM_PKR_message dsm_pkr_message;
|
||||
dsm_pkr_message.npkt = 0x01;
|
||||
dsm_pkr_message.npktid = 0x2;
|
||||
dsm_pkr_message.mid = 0x01;
|
||||
std::vector<uint8_t> vec = helper.convert_from_hex_string("7CBE05D9970CFC9E22D0A43A340EF557624453A2E821AADEAC989C405D78BA06"
|
||||
std::vector<uint8_t> vec = helper.convert_from_hex_string(
|
||||
"7CBE05D9970CFC9E22D0A43A340EF557624453A2E821AADEAC989C405D78BA06"
|
||||
"956380BAB0D2C939EC6208151040CCFFCF1FB7156178FD1255BA0AECAAA253F7"
|
||||
"407B6C5DD4DF059FF8789474061301E1C34881DB7A367A913A3674300E21EAB1"
|
||||
"24EF508389B7D446C3E2ECE8D459FBBD3239A794906F5B1F92469C640164FD87");
|
||||
@ -125,27 +142,22 @@ TEST_F(OsnmaMsgReceiverTest, VerifyPublicKey){ // values taken from RG A.7
|
||||
dsm_pkr_message.npk = helper.convert_from_hex_string("0303B2CE64BC207BDD8BC4DF859187FCB686320D63FFA091410FC158FBB77980EA");
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
bool result = osnma->verify_dsm_pkr(dsm_pkr_message);
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
ASSERT_TRUE(result);
|
||||
|
||||
}
|
||||
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, BuildTagMessageM0)
|
||||
{
|
||||
// Arrange
|
||||
// ----------
|
||||
// m0
|
||||
std::vector<uint8_t> expected_message = {
|
||||
0x02, 0x4E, 0x05, 0x46, 0x3C, 0x01, 0x83, 0xA5, 0x91, 0x05, 0x1D, 0x69, 0x25, 0x80, 0x07, 0x6B,
|
||||
0x3E, 0xEA, 0x81, 0x41, 0xBF, 0x03, 0xAD, 0xCB, 0x5A, 0xAD, 0xB2, 0x77, 0xAF, 0x6F, 0xCF, 0x21,
|
||||
0xFB, 0x98, 0xFF, 0x7E, 0x83, 0xAF, 0xFC, 0x37, 0x02, 0x03, 0xB0, 0xD8, 0xE1, 0x0E, 0xB1, 0x4D,
|
||||
0x11, 0x18, 0xE6, 0xB0, 0xE8, 0x20, 0x01, 0xA0, 0x00, 0xE5, 0x91, 0x00, 0x06, 0xD3, 0x1F, 0x00,
|
||||
0x02, 0x68, 0x05, 0x4A, 0x02, 0xC2, 0x26, 0x07, 0xF7, 0xFC, 0x00
|
||||
};
|
||||
0x02, 0x68, 0x05, 0x4A, 0x02, 0xC2, 0x26, 0x07, 0xF7, 0xFC, 0x00};
|
||||
|
||||
uint32_t TOW_Tag0 = 345660;
|
||||
uint32_t TOW_NavData = TOW_Tag0 - 30;
|
||||
@ -157,7 +169,16 @@ TEST_F(OsnmaMsgReceiverTest, BuildTagMessageM0)
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.ts = 9; // 40 bit
|
||||
osnma->d_tesla_keys[TOW_Key_Tag0] = {0x69, 0xC0, 0x0A, 0xA7, 0x36, 0x42, 0x37, 0xA6, 0x5E, 0xBF, 0x00, 0x6A, 0xD8, 0xDB, 0xBC, 0x73}; // K4
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.mf = 0;
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].ephemeris_iono_vector_2 = "000011101001011001000100000101000111010110100100100101100000000000011101101011001111101110101010000001010000011011111100000011101011011100101101011010101011011011001001110111101011110110111111001111001000011111101110011000111111110111111010000011101011111111110000110111000000100000001110110000110110001110000100001110101100010100110100010001000110001110011010110000111010000010000000000001101000000000000011100101100100010000000000000110110100110001111100000000000000100110100000000101010010100000001011000010001001100000011111110111111111000000000";
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].set_ephemeris_iono_data(
|
||||
"000011101001011001000100000101000111010110100100100101100000000000"
|
||||
"011101101011001111101110101010000001010000011011111100000011101011"
|
||||
"011100101101011010101011011011001001110111101011110110111111001111"
|
||||
"001000011111101110011000111111110111111010000011101011111111110000"
|
||||
"110111000000100000001110110000110110001110000100001110101100010100"
|
||||
"110100010001000110001110011010110000111010000010000000000001101000"
|
||||
"000000000011100101100100010000000000000110110100110001111100000000"
|
||||
"000000100110100000000101010010100000001011000010001001100000011111"
|
||||
"110111111111000000000");
|
||||
osnma->d_osnma_data.d_nma_header.nmas = 0b10;
|
||||
|
||||
MACK_tag_and_info MTI;
|
||||
@ -167,22 +188,17 @@ TEST_F(OsnmaMsgReceiverTest, BuildTagMessageM0)
|
||||
MTI.tag_info.cop = 0x0F;
|
||||
Tag t0(MTI, TOW_Tag0, WN, PRNa, CTR);
|
||||
|
||||
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
auto computed_message = osnma->build_message(t0);
|
||||
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
ASSERT_TRUE(computed_message == expected_message);
|
||||
|
||||
}
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, TagVerification) {
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, TagVerification)
|
||||
{
|
||||
// Arrange
|
||||
// ----------
|
||||
// Tag0
|
||||
uint32_t TOW_Tag0 = 345660;
|
||||
uint32_t TOW_NavData = TOW_Tag0 - 30;
|
||||
@ -194,7 +210,17 @@ TEST_F(OsnmaMsgReceiverTest, TagVerification) {
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.ts = 9; // 40 bit
|
||||
osnma->d_tesla_keys[TOW_Key_Tag0] = {0x69, 0xC0, 0x0A, 0xA7, 0x36, 0x42, 0x37, 0xA6, 0x5E, 0xBF, 0x00, 0x6A, 0xD8, 0xDD, 0xBC, 0x73}; // K4
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.mf = 0;
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].ephemeris_iono_vector_2 = "000011101001011001000100000101000111010110100100100101100000000000011101101011001111101110101010000001010000011011111100000011101011011100101101011010101011011011001001110111101011110110111111001111001000011111101110011000111111110111111010000011101011111111110000110111000000100000001110110000110110001110000100001110101100010100110100010001000110001110011010110000111010000010000000000001101000000000000011100101100100010000000000000110110100110001111100000000000000100110100000000101010010100000001011000010001001100000011111110111111111000000000";
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].set_ephemeris_iono_data("");
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].set_ephemeris_iono_data(
|
||||
"000011101001011001000100000101000111010110100100100101100000000000"
|
||||
"011101101011001111101110101010000001010000011011111100000011101011"
|
||||
"011100101101011010101011011011001001110111101011110110111111001111"
|
||||
"001000011111101110011000111111110111111010000011101011111111110000"
|
||||
"110111000000100000001110110000110110001110000100001110101100010100"
|
||||
"110100010001000110001110011010110000111010000010000000000001101000"
|
||||
"000000000011100101100100010000000000000110110100110001111100000000"
|
||||
"000000100110100000000101010010100000001011000010001001100000011111"
|
||||
"110111111111000000000");
|
||||
osnma->d_osnma_data.d_nma_header.nmas = 0b10;
|
||||
|
||||
MACK_tag_and_info MTI;
|
||||
@ -204,19 +230,10 @@ TEST_F(OsnmaMsgReceiverTest, TagVerification) {
|
||||
MTI.tag_info.cop = 0x0F;
|
||||
Tag t0(MTI, TOW_Tag0, WN, PRNa, CTR);
|
||||
|
||||
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
bool result_tag0 = osnma->verify_tag(t0);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
//ASSERT_TRUE(result_tag0);
|
||||
|
||||
// Tag3
|
||||
uint32_t TOW_Tag3 = 345660;
|
||||
@ -229,9 +246,9 @@ TEST_F(OsnmaMsgReceiverTest, TagVerification) {
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.ts = 9; // 40 bit
|
||||
osnma->d_tesla_keys[TOW_Key_Tag3] = {0x69, 0xC0, 0x0A, 0xA7, 0x36, 0x42, 0x37, 0xA6, 0x5E, 0xBF, 0x00, 0x6A, 0xD8, 0xDD, 0xBC, 0x73}; // K4
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.mf = 0;
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].utc_vector_2 =
|
||||
osnma->d_satellite_nav_data[PRNa][TOW_NavData].set_utc_data(
|
||||
"111111111111111111111111111111110000000000000000000000010001001001001000"
|
||||
"111000001000100111100010010111111111011110111111111001001100000100000000";
|
||||
"111000001000100111100010010111111111011110111111111001001100000100000000");
|
||||
osnma->d_osnma_data.d_nma_header.nmas = 0b10;
|
||||
|
||||
MTI.tag = static_cast<uint64_t>(0x7BB238C883);
|
||||
@ -243,12 +260,12 @@ TEST_F(OsnmaMsgReceiverTest, TagVerification) {
|
||||
bool result_tag3 = osnma->verify_tag(t3);
|
||||
|
||||
ASSERT_TRUE(result_tag0 && result_tag3);
|
||||
|
||||
}
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, TeslaKeyVerification) {
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, TeslaKeyVerification)
|
||||
{
|
||||
// Arrange
|
||||
// ----------
|
||||
osnma->d_tesla_key_verified = false;
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.kroot = {0x5B, 0xF8, 0xC9, 0xCB, 0xFC, 0xF7, 0x04, 0x22, 0x08, 0x14, 0x75, 0xFD, 0x44, 0x5D, 0xF0, 0xFF}; // Kroot, TOW 345570 GST_0 - 30
|
||||
osnma->d_osnma_data.d_dsm_kroot_message.ks = 4; // TABLE 10 --> 128 bits
|
||||
@ -262,30 +279,20 @@ TEST_F(OsnmaMsgReceiverTest, TeslaKeyVerification) {
|
||||
std::vector<uint8_t> key = {0x2D, 0xC3, 0xA3, 0xCD, 0xB1, 0x17, 0xFA, 0xAD, 0xB8, 0x3B, 0x5F, 0x0B, 0x6F, 0xEA, 0x88, 0xEB}; // K2
|
||||
uint32_t TOW = 345630;
|
||||
|
||||
|
||||
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
bool result = osnma->verify_tesla_key(key, TOW);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
ASSERT_TRUE(result);
|
||||
|
||||
}
|
||||
|
||||
|
||||
TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
{
|
||||
// Arrange
|
||||
// ----------
|
||||
// std::vector<TestVector> testVectors = readTestVectorsFromFile("/home/cgm/CLionProjects/osnma/data/16_AUG_2023_GST_05_00_01.csv"); // conf. 1
|
||||
std::vector<TestVector> testVectors = readTestVectorsFromFile("/home/cgm/CLionProjects/osnma/data/27_JUL_2023_GST_00_00_01.csv"); // conf. 2
|
||||
if (testVectors.empty()){
|
||||
if (testVectors.empty())
|
||||
{
|
||||
ASSERT_TRUE(false);
|
||||
}
|
||||
|
||||
@ -294,26 +301,22 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
int byte_index{0}; // index containing the last byte position of the hex stream that was retrieved. Takes advantage that all TVs have same size
|
||||
const int SIZE_PAGE_BYTES{240 / 8}; // total bytes of a page
|
||||
const int SIZE_SUBFRAME_PAGES{15}; // number of pages of a subframe
|
||||
const int SIZE_SUBFRAME_BYTES{SIZE_PAGE_BYTES*SIZE_SUBFRAME_PAGES}; // total bytes of a subframe
|
||||
const int DURATION_SUBFRAME{30}; // duration of a subframe, in seconds
|
||||
|
||||
const int DUMMY_PAGE{63};
|
||||
bool flag_dummy_page{false};
|
||||
std::cout << "OsnmaTestVectorsSimulation:" << " d_GST_SIS= " << d_GST_SIS
|
||||
std::cout << "OsnmaTestVectorsSimulation:"
|
||||
<< " d_GST_SIS= " << d_GST_SIS
|
||||
<< ", TOW=" << TOW
|
||||
<< ", WN=" << WN << std::endl;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// Act
|
||||
// ----------
|
||||
|
||||
// loop over all bytes of data. Note: all TestVectors have same amount of data.
|
||||
while (end_of_hex_stream == false){
|
||||
while (end_of_hex_stream == false)
|
||||
{
|
||||
// loop over all SVs, extract a subframe
|
||||
for(const TestVector& tv : testVectors) { // loop over all SVs, extract a subframe
|
||||
for (const TestVector& tv : testVectors)
|
||||
{ // loop over all SVs, extract a subframe
|
||||
std::cout << "OsnmaTestVectorsSimulation: SVID (PRN_a) " << tv.svId << std::endl;
|
||||
auto osnmaMsg_sptr = std::make_shared<OSNMA_msg>();
|
||||
std::array<uint8_t, 15> hkroot{};
|
||||
@ -325,8 +328,10 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
{
|
||||
// extract bytes of complete page (odd+even) -- extract SIZE_PAGE from tv.navBits, starting from byte_index
|
||||
std::vector<uint8_t> page_bytes = extract_page_bytes(tv, byte_index, SIZE_PAGE_BYTES);
|
||||
if(page_bytes.empty()){
|
||||
std::cout<< "OsnmaTestVectorsSimulation: end of TestVectors \n" << "byte_index="<<byte_index<< " expected= " << 432000/8 << std::endl;
|
||||
if (page_bytes.empty())
|
||||
{
|
||||
std::cout << "OsnmaTestVectorsSimulation: end of TestVectors \n"
|
||||
<< "byte_index=" << byte_index << " expected= " << 432000 / 8 << std::endl;
|
||||
end_of_hex_stream = true;
|
||||
break;
|
||||
}
|
||||
@ -335,7 +340,8 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
// Extract the 40 OSNMA bits starting from the 18th bit
|
||||
std::string even_page = page_bits.substr(0, page_bits.size() / 2);
|
||||
std::string odd_page = page_bits.substr(page_bits.size() / 2);
|
||||
if(even_page.size() < 120 || odd_page.size() < 120 ){
|
||||
if (even_page.size() < 120 || odd_page.size() < 120)
|
||||
{
|
||||
std::cout << "OsnmaTestVectorsSimulation: error parsing pages" << std::endl;
|
||||
}
|
||||
bool even_odd_OK = even_page[0] == '0' && odd_page[0] == '1';
|
||||
@ -373,7 +379,8 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
std::cout << "----------" << std::endl;
|
||||
if (end_of_hex_stream)
|
||||
break;
|
||||
if(flag_dummy_page){
|
||||
if (flag_dummy_page)
|
||||
{
|
||||
flag_dummy_page = false;
|
||||
continue; // skip this SV
|
||||
}
|
||||
@ -396,13 +403,13 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
{
|
||||
ephClockStatusWordsReceived = false;
|
||||
std::cerr << "OsnmaTestVectorsSimulation: error parsing words_for_OSNMA 1->5. "
|
||||
"Word "<< i << " should be received for each subframe but was not." << std::endl;
|
||||
"Word "
|
||||
<< i << " should be received for each subframe but was not." << std::endl;
|
||||
}
|
||||
}
|
||||
// extract bits as needed by osnma block
|
||||
if (ephClockStatusWordsReceived)
|
||||
{
|
||||
|
||||
// Define the starting position and length of bits to extract for each word
|
||||
std::map<uint8_t, std::pair<uint8_t, uint8_t>> extractionParams = {
|
||||
{1, {6, 120}},
|
||||
@ -414,7 +421,8 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
|
||||
// Fill NavData bits -- Iterate over the extraction parameters
|
||||
std::string nav_data_ADKD_0_12 = "";
|
||||
for (const auto& param : extractionParams) {
|
||||
for (const auto& param : extractionParams)
|
||||
{
|
||||
uint8_t wordKey = param.first;
|
||||
uint8_t start = param.second.first;
|
||||
uint8_t length = param.second.second;
|
||||
@ -426,14 +434,14 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
bool check_size_is_ok = nav_data_ADKD_0_12.size() == 549;
|
||||
if (check_size_is_ok)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: sending ADKD=0/12 navData, PRN_d (" << tv.svId << ") " << "TOW_sf=" << osnmaMsg_sptr->TOW_sf0 <<std::endl;
|
||||
std::cout << "Galileo OSNMA: sending ADKD=0/12 navData, PRN_d (" << tv.svId << ") "
|
||||
<< "TOW_sf=" << osnmaMsg_sptr->TOW_sf0 << std::endl;
|
||||
const auto tmp_obj_osnma = std::make_shared<std::tuple<uint32_t, std::string, uint32_t>>( // < PRNd , navDataBits, TOW_Sosf>
|
||||
tv.svId,
|
||||
nav_data_ADKD_0_12,
|
||||
osnmaMsg_sptr->TOW_sf0);
|
||||
LOG(INFO) << "|---> Galileo OSNMA :: Telemetry Decoder NavData (PRN_d=" << static_cast<int>(tv.svId) << ", TOW=" << static_cast<int>(osnmaMsg_sptr->TOW_sf0) << "): 0b" << nav_data_ADKD_0_12;
|
||||
osnma->msg_handler_osnma(pmt::make_any(tmp_obj_osnma));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -441,12 +449,12 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
bool timingWordsReceived = words_for_OSNMA.find(6) != words_for_OSNMA.end() &&
|
||||
words_for_OSNMA.find(10) != words_for_OSNMA.end();
|
||||
// extract bits as needed by osnma block
|
||||
if(timingWordsReceived){
|
||||
if (timingWordsReceived)
|
||||
{
|
||||
// Define the starting position and length of bits to extract for each word
|
||||
std::map<uint8_t, std::pair<uint8_t, uint8_t>> extractionParams = {
|
||||
{6, {6, 99}},
|
||||
{10, {86, 42}}
|
||||
};
|
||||
{10, {86, 42}}};
|
||||
|
||||
std::string nav_data_ADKD_4 = "";
|
||||
// Fill NavData bits -- Iterate over the extraction parameters
|
||||
@ -463,16 +471,15 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
bool check_size_is_ok = nav_data_ADKD_4.size() == 141;
|
||||
if (check_size_is_ok)
|
||||
{
|
||||
std::cout << "Galileo OSNMA: sending ADKD=04 navData, PRN_d (" << tv.svId << ") " << "TOW_sf=" << osnmaMsg_sptr->TOW_sf0 <<std::endl;
|
||||
std::cout << "Galileo OSNMA: sending ADKD=04 navData, PRN_d (" << tv.svId << ") "
|
||||
<< "TOW_sf=" << osnmaMsg_sptr->TOW_sf0 << std::endl;
|
||||
const auto tmp_obj_osnma = std::make_shared<std::tuple<uint32_t, std::string, uint32_t>>( // < PRNd , navDataBits, TOW_Sosf>
|
||||
tv.svId,
|
||||
nav_data_ADKD_4,
|
||||
osnmaMsg_sptr->TOW_sf0);
|
||||
LOG(INFO) << "|---> Galileo OSNMA :: Telemetry Decoder NavData (PRN_d=" << static_cast<int>(tv.svId) << ", TOW=" << static_cast<int>(osnmaMsg_sptr->TOW_sf0) << "): 0b" << nav_data_ADKD_4;
|
||||
osnma->msg_handler_osnma(pmt::make_any(tmp_obj_osnma));
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Call the handler, as if it came from telemetry decoder block
|
||||
@ -481,42 +488,42 @@ TEST_F(OsnmaMsgReceiverTest, OsnmaTestVectorsSimulation)
|
||||
osnma->msg_handler_osnma(temp_obj); // osnma entry point
|
||||
}
|
||||
|
||||
|
||||
if(!end_of_hex_stream){
|
||||
if (!end_of_hex_stream)
|
||||
{
|
||||
offset_byte = byte_index; // update offset for the next subframe
|
||||
d_GST_SIS += DURATION_SUBFRAME;
|
||||
TOW = d_GST_SIS & 0x000FFFFF;
|
||||
WN = (d_GST_SIS & 0xFFF00000) >> 20;
|
||||
std::cout << "OsnmaTestVectorsSimulation:" << " d_GST_SIS= " << d_GST_SIS
|
||||
std::cout << "OsnmaTestVectorsSimulation:"
|
||||
<< " d_GST_SIS= " << d_GST_SIS
|
||||
<< ", TOW=" << TOW
|
||||
<< ", WN=" << WN << std::endl;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
// Assert
|
||||
// ----------
|
||||
|
||||
// TODO - create global vars with failed tags and compare to total tags (Tag Id for example)
|
||||
}
|
||||
|
||||
|
||||
// Auxiliary functions for the OsnmaTestVectorsSimulation test fixture.
|
||||
// Essentially, they perform same work as the telemetry decoder block, but adapted to the osnma-test-vector files.
|
||||
std::vector<TestVector> OsnmaMsgReceiverTest::readTestVectorsFromFile(const std::string& filename)
|
||||
{
|
||||
std::ifstream file(filename);
|
||||
std::vector<TestVector> testVectors;
|
||||
if (!file.is_open()) {
|
||||
if (!file.is_open())
|
||||
{
|
||||
std::cerr << "Error reading the file \"" << filename << "\" \n";
|
||||
return testVectors;
|
||||
}
|
||||
|
||||
std::string line;
|
||||
std::getline(file, line);
|
||||
if (line != "SVID,NumNavBits,NavBitsHEX\r" ){
|
||||
std::cerr<<"Error parsing first line" <<"\n";
|
||||
if (line != "SVID,NumNavBits,NavBitsHEX\r")
|
||||
{
|
||||
std::cerr << "Error parsing first line"
|
||||
<< "\n";
|
||||
}
|
||||
|
||||
while (std::getline(file, line))
|
||||
@ -540,6 +547,8 @@ std::vector<TestVector> OsnmaMsgReceiverTest::readTestVectorsFromFile(const std:
|
||||
|
||||
return testVectors;
|
||||
}
|
||||
|
||||
|
||||
std::vector<uint8_t> OsnmaMsgReceiverTest::parseNavBits(const std::string& hex)
|
||||
{
|
||||
std::vector<uint8_t> bytes;
|
||||
@ -552,6 +561,8 @@ std::vector<uint8_t> OsnmaMsgReceiverTest::parseNavBits(const std::string& hex)
|
||||
}
|
||||
return bytes;
|
||||
}
|
||||
|
||||
|
||||
std::string OsnmaMsgReceiverTest::bytes_to_str(const std::vector<uint8_t>& bytes)
|
||||
{
|
||||
std::string bit_string;
|
||||
@ -563,6 +574,8 @@ std::string OsnmaMsgReceiverTest::bytes_to_str(const std::vector<uint8_t>& bytes
|
||||
}
|
||||
return bit_string;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Extracts a range of bytes from a TestVector's navBits vector.
|
||||
*
|
||||
@ -591,6 +604,8 @@ std::vector<uint8_t> OsnmaMsgReceiverTest::extract_page_bytes(const TestVector&
|
||||
|
||||
return extracted_bytes;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Sets the time based on the given input.
|
||||
*
|
||||
@ -621,9 +636,9 @@ void OsnmaMsgReceiverTest::set_time(std::tm& input)
|
||||
// TODO: d_GST_SIS or d_receiver_time? doubt
|
||||
// I am assuming that local realisation of receiver is identical to SIS GST time coming from W5 or W0
|
||||
this->d_GST_SIS = (this->WN & 0x00000FFF) << 20 | (this->TOW & 0x000FFFFF);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void OsnmaMsgReceiverTest::initializeGoogleLog()
|
||||
{
|
||||
google::InitGoogleLogging(log_name.c_str()); // TODO - running all tests causes conflict due to being called twice
|
||||
@ -632,7 +647,6 @@ void OsnmaMsgReceiverTest::initializeGoogleLog()
|
||||
FLAGS_log_dir = "/home/cgm/CLionProjects/osnma/data/build/src/tests/logs";
|
||||
if (FLAGS_log_dir.empty())
|
||||
{
|
||||
|
||||
std::cout << "Logging will be written at "
|
||||
<< std::filesystem::temp_directory_path()
|
||||
<< '\n'
|
||||
@ -667,4 +681,3 @@ void OsnmaMsgReceiverTest::initializeGoogleLog()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user