diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc index 35e1478d8..28be90a22 100644 --- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc @@ -123,6 +123,9 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str this->message_port_register_in(pmt::mp("telemetry")); this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1)); + // Receiver time feedback to observables block + this->message_port_register_out(pmt::mp("rx_dt_s")); + //initialize kml_printer std::string kml_dump_filename; kml_dump_filename = d_dump_filename; diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc index 44dbc4bfc..c16124ef3 100644 --- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc @@ -227,6 +227,9 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1)); + // Receiver time feedback to observables block + this->message_port_register_out(pmt::mp("rx_dt_s")); + //initialize kml_printer std::string kml_dump_filename; kml_dump_filename = d_dump_filename; @@ -373,6 +376,12 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging); if (pvt_result == true) { + //feedback the receiver time offset estimation to observables block + // send asynchronous message to observables block + // time offset is expressed as the equivalent travel distance [m] + pmt::pmt_t value = pmt::from_double(d_ls_pvt->d_rx_dt_s); + this->message_port_pub(pmt::mp("rx_dt_s"), value); + //std::cout<<"d_rx_dt_s*GPS_C_m_s="<d_rx_dt_s*GPS_C_m_s<d_position_UTC_time) diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc index cf1452411..fd0cf8047 100644 --- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc @@ -216,6 +216,9 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump this->message_port_register_in(pmt::mp("telemetry")); this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&hybrid_pvt_cc::msg_handler_telemetry, this, _1)); + // Receiver time feedback to observables block + this->message_port_register_out(pmt::mp("rx_dt_s")); + //initialize kml_printer std::string kml_dump_filename; kml_dump_filename = d_dump_filename; diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc index 7517cae5f..070503c21 100644 --- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc +++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc @@ -177,10 +177,10 @@ bool galileo_e1_ls_pvt::get_PVT(std::map gnss_pseudoranges_map DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << mypos; cart2geo(static_cast(mypos(0)), static_cast(mypos(1)), static_cast(mypos(2)), 4); - d_rx_dt_m = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds + d_rx_dt_s = mypos(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds DLOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time) << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d - << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]"; + << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]"; // ###### Compute DOPs ######## compute_DOP(); diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc index d888948cb..b5fe755fb 100644 --- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc +++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc @@ -172,7 +172,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, cart2geo(static_cast(mypos(0)), static_cast(mypos(1)), static_cast(mypos(2)), 4); - d_rx_dt_m = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds + d_rx_dt_s = mypos(3)/GPS_C_m_s; // Convert RX time offset from meters to seconds // Compute UTC time and print PVT solution double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60) @@ -183,7 +183,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(p_time) << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d - << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]"; + << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]"; // ###### Compute DOPs ######## compute_DOP(); diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc index ea16dbfc0..3629bac1d 100644 --- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc +++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc @@ -276,7 +276,7 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_observables_map, dou DLOG(INFO) << "W=" << W; mypos = leastSquarePos(satpos, obs, W); - d_rx_dt_m = mypos(3) / GPS_C_m_s; // Convert RX time offset from meters to seconds + d_rx_dt_s = mypos(3) / GPS_C_m_s; // Convert RX time offset from meters to seconds double secondsperweek = 604800.0; // Compute GST and Gregorian time if( GST != 0.0) @@ -300,7 +300,7 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_observables_map, dou DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d - << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_m << " [s]"; + << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]"; // ###### Compute DOPs ######## hybrid_ls_pvt::compute_DOP(); diff --git a/src/algorithms/PVT/libs/pvt_solution.cc b/src/algorithms/PVT/libs/pvt_solution.cc index 8ae70761b..d4312e082 100644 --- a/src/algorithms/PVT/libs/pvt_solution.cc +++ b/src/algorithms/PVT/libs/pvt_solution.cc @@ -57,7 +57,7 @@ Pvt_Solution::Pvt_Solution() b_valid_position = false; d_averaging_depth = 0; d_valid_observations = 0; - d_rx_dt_m = 0.0; + d_rx_dt_s = 0.0; } arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec & X_sat) diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h index 1825e6d87..5f6d3a9d5 100644 --- a/src/algorithms/PVT/libs/pvt_solution.h +++ b/src/algorithms/PVT/libs/pvt_solution.h @@ -51,7 +51,7 @@ public: double d_latitude_d; //!< RX position Latitude WGS84 [deg] double d_longitude_d; //!< RX position Longitude WGS84 [deg] double d_height_m; //!< RX position height WGS84 [m] - double d_rx_dt_m; //!< RX time offset [s] + double d_rx_dt_s; //!< RX time offset [s] boost::posix_time::ptime d_position_UTC_time; diff --git a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc index ed75b4c46..faed78b6e 100644 --- a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc @@ -56,10 +56,24 @@ galileo_e1_make_observables_cc(unsigned int nchannels, bool dump, std::string du } +void galileo_e1_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg) +{ + //pmt::print(msg); + + d_rx_dt_s = pmt::to_double(msg); +} + galileo_e1_observables_cc::galileo_e1_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) : gr::block("galileo_e1_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro))) { + + // Telemetry bit synchronization message port input + this->message_port_register_in(pmt::mp("rx_dt_s")); + + this->set_msg_handler(pmt::mp("rx_dt_s"), + boost::bind(&galileo_e1_observables_cc::msg_handler_rx_dt_s, this, _1)); + // initialize internal vars d_dump = dump; d_nchannels = nchannels; diff --git a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h index 1cb3ef4c4..4779099ff 100644 --- a/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h +++ b/src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h @@ -61,6 +61,7 @@ private: friend galileo_e1_observables_cc_sptr galileo_e1_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); galileo_e1_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); + void msg_handler_rx_dt_s(pmt::pmt_t msg); //Tracking observable history std::vector> d_acc_carrier_phase_queue_rads; @@ -68,6 +69,7 @@ private: std::vector> d_symbol_TOW_queue_s; // class private vars + double d_rx_dt_s; bool d_dump; unsigned int d_nchannels; unsigned int history_deep; diff --git a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc index 4d617946c..36afa7606 100644 --- a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc @@ -57,6 +57,14 @@ gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, bool gr::block("gps_l1_ca_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro))) { + + // Telemetry bit synchronization message port input + this->message_port_register_in(pmt::mp("rx_dt_s")); + + this->set_msg_handler(pmt::mp("rx_dt_s"), + boost::bind(&gps_l1_ca_observables_cc::msg_handler_rx_dt_s, this, _1)); + + d_rx_dt_s=0; // initialize internal vars d_dump = dump; d_nchannels = nchannels; @@ -97,6 +105,14 @@ gps_l1_ca_observables_cc::~gps_l1_ca_observables_cc() } +void gps_l1_ca_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg) +{ + //pmt::print(msg); + //accumulate the receiver time offset + d_rx_dt_s = d_rx_dt_s+pmt::to_double(msg); +} + + bool pairCompare_gnss_synchro_Prn_delay_ms(const std::pair& a, const std::pair& b) { return (a.second.Prn_timestamp_ms) < (b.second.Prn_timestamp_ms); @@ -203,7 +219,8 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms; //compute the pseudorange traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms; - pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m] + //convert to meters and remove the receiver time offset in meters + pseudorange_m = traveltime_ms * GPS_C_m_ms-d_rx_dt_s*GPS_C_m_s; // [m] // update the pseudorange object current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second; current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m; diff --git a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h index 38a1e7f4d..387a92651 100644 --- a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h +++ b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h @@ -61,7 +61,7 @@ private: friend gps_l1_ca_observables_cc_sptr gps_l1_ca_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); gps_l1_ca_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); - + void msg_handler_rx_dt_s(pmt::pmt_t msg); //Tracking observable history std::vector> d_acc_carrier_phase_queue_rads; @@ -69,6 +69,7 @@ private: std::vector> d_symbol_TOW_queue_s; // class private vars + double d_rx_dt_s; bool d_dump; unsigned int d_nchannels; unsigned int history_deep; diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 9a88419ba..89a7fd9c3 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -55,10 +55,24 @@ hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_f } +void hybrid_observables_cc::msg_handler_rx_dt_s(pmt::pmt_t msg) +{ + //pmt::print(msg); + + d_rx_dt_s = pmt::to_double(msg); +} + hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history) : gr::block("hybrid_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro))) { + + // Telemetry bit synchronization message port input + this->message_port_register_in(pmt::mp("rx_dt_s")); + + this->set_msg_handler(pmt::mp("rx_dt_s"), + boost::bind(&hybrid_observables_cc::msg_handler_rx_dt_s, this, _1)); + // initialize internal vars d_dump = dump; d_nchannels = nchannels; diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h index 20154c78a..ea916afcf 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h @@ -59,6 +59,7 @@ private: friend hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); hybrid_observables_cc(unsigned int nchannels, bool dump, std::string dump_filename, unsigned int deep_history); + void msg_handler_rx_dt_s(pmt::pmt_t msg); //Tracking observable history std::vector> d_acc_carrier_phase_queue_rads; @@ -66,6 +67,7 @@ private: std::vector> d_symbol_TOW_queue_s; // class private vars + double d_rx_dt_s; bool d_dump; unsigned int d_nchannels; unsigned int history_deep; diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 138140d34..ecdaf4e24 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -324,6 +324,8 @@ void GNSSFlowgraph::connect() top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i); top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry")); } + //asynchronous feedback of receiver time estimation from PVT to observables + top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("rx_dt_s"), observables_->get_right_block(), pmt::mp("rx_dt_s")); } catch (std::exception& e) { diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc index 92b847cac..c0c41237e 100644 --- a/src/tests/test_main.cc +++ b/src/tests/test_main.cc @@ -114,7 +114,8 @@ DECLARE_string(log_dir); #include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc" #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc" -//#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc" +#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc" +#include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc" #include "unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc" #include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc" #if CUDA_BLOCKS_TEST diff --git a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc new file mode 100644 index 000000000..b32e809cb --- /dev/null +++ b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc @@ -0,0 +1,271 @@ +/*! + * \file gps_l1_ca_dll_pll_tracking_test.cc + * \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking + * implementation based on some input parameters. + * \author Javier Arribas, 2015. jarribas(at)cttc.es + * + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "gnss_block_factory.h" +#include "gnss_block_interface.h" +#include "tracking_interface.h" +#include "telemetry_decoder_interface.h" +#include "in_memory_configuration.h" +#include "gnss_sdr_valve.h" +#include "gnss_synchro.h" +#include "gps_l1_ca_telemetry_decoder.h" + +// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES ######### +class GpsL1CADllPllTelemetryDecoderTest_msg_rx; + +typedef boost::shared_ptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr; + +GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make(); + +class GpsL1CADllPllTelemetryDecoderTest_msg_rx : public gr::block +{ +private: + friend GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make(); + void msg_handler_events(pmt::pmt_t msg); + GpsL1CADllPllTelemetryDecoderTest_msg_rx(); + +public: + int rx_message; + ~GpsL1CADllPllTelemetryDecoderTest_msg_rx(); //!< Default destructor + +}; + +GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make() +{ + return GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_msg_rx()); +} + +void GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events(pmt::pmt_t msg) +{ + try + { + long int message = pmt::to_long(msg); + rx_message = message; + } + catch(boost::bad_any_cast& e) + { + LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; + rx_message = 0; + } +} + +GpsL1CADllPllTelemetryDecoderTest_msg_rx::GpsL1CADllPllTelemetryDecoderTest_msg_rx() : + gr::block("GpsL1CADllPllTelemetryDecoderTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) +{ + this->message_port_register_in(pmt::mp("events")); + this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events, this, _1)); + rx_message = 0; +} + +GpsL1CADllPllTelemetryDecoderTest_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_msg_rx() +{} + + +// ########################################################### + + +// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES ######### +class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx; + +typedef boost::shared_ptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr; + +GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make(); + +class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx : public gr::block +{ +private: + friend GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make(); + void msg_handler_events(pmt::pmt_t msg); + GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx(); + +public: + int rx_message; + ~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx(); //!< Default destructor + +}; + +GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make() +{ + return GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx()); +} + +void GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events(pmt::pmt_t msg) +{ + try + { + long int message = pmt::to_long(msg); + rx_message = message; + } + catch(boost::bad_any_cast& e) + { + LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; + rx_message = 0; + } +} + +GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() : + gr::block("GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) +{ + this->message_port_register_in(pmt::mp("events")); + this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events, this, _1)); + rx_message = 0; +} + +GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() +{} + + +// ########################################################### + + +class GpsL1CATelemetryDecoderTest: public ::testing::Test +{ +protected: + GpsL1CATelemetryDecoderTest() + { + factory = std::make_shared(); + config = std::make_shared(); + item_size = sizeof(gr_complex); + gnss_synchro = Gnss_Synchro(); + } + + ~GpsL1CATelemetryDecoderTest() + {} + + void init(); + + gr::msg_queue::sptr queue; + gr::top_block_sptr top_block; + std::shared_ptr factory; + std::shared_ptr config; + Gnss_Synchro gnss_synchro; + size_t item_size; +}; + + +void GpsL1CATelemetryDecoderTest::init() +{ + gnss_synchro.Channel_ID = 0; + gnss_synchro.System = 'G'; + std::string signal = "1C"; + signal.copy(gnss_synchro.Signal, 2, 0); + gnss_synchro.PRN = 1; + + config->set_property("GNSS-SDR.internal_fs_hz", "2600000"); + + // Set Tracking + config->set_property("Tracking_1C.item_type", "gr_complex"); + config->set_property("Tracking_1C.if", "0"); + config->set_property("Tracking_1C.dump", "true"); + config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); + config->set_property("Tracking_1C.pll_bw_hz", "30.0"); + config->set_property("Tracking_1C.dll_bw_hz", "4.0"); + config->set_property("Tracking_1C.early_late_space_chips", "0.5"); + + config->set_property("TelemetryDecoder_1C.dump","true"); + config->set_property("TelemetryDecoder_1C.decimation_factor","1"); + +} + +TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults) +{ + struct timeval tv; + long long int begin = 0; + long long int end = 0; + int fs_in = 2600000; + + init(); + queue = gr::msg_queue::make(0); + top_block = gr::make_top_block("Telemetry_Decoder test"); + std::shared_ptr tracking = std::make_shared(config.get(), "Tracking_1C", 1, 1); + boost::shared_ptr msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make(); + + gnss_synchro.Acq_delay_samples = (1023-994.622/1023)*fs_in*1e-3; + gnss_synchro.Acq_doppler_hz = -2583.86; + gnss_synchro.Acq_samplestamp_samples = 0; + + std::shared_ptr tlm(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C",1, 1)); + boost::shared_ptr tlm_msg_rx = GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make(); + + ASSERT_NO_THROW( { + tracking->set_channel(gnss_synchro.Channel_ID); + }) << "Failure setting channel." << std::endl; + + ASSERT_NO_THROW( { + tracking->set_gnss_synchro(&gnss_synchro); + }) << "Failure setting gnss_synchro." << std::endl; + + ASSERT_NO_THROW( { + tracking->connect(top_block); + }) << "Failure connecting tracking to the top_block." << std::endl; + + ASSERT_NO_THROW( { + std::string path = std::string(TEST_PATH); + std::string file = path + "data/gps_l1ca_prn1_2.6msps.dat"; + const char * file_name = file.c_str(); + gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false); + //boost::shared_ptr valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue); + gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make(); + gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro)); + top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0); + //top_block->connect(gr_interleaved_char_to_complex, 0, valve, 0); + top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0); + top_block->connect(tracking->get_right_block(), 0, sink, 0); + top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting the blocks of tracking test." << std::endl; + + tracking->start_tracking(); + + EXPECT_NO_THROW( { + gettimeofday(&tv, NULL); + begin = tv.tv_sec *1000000 + tv.tv_usec; + top_block->run(); // Start threads and wait + gettimeofday(&tv, NULL); + end = tv.tv_sec *1000000 + tv.tv_usec; + }) << "Failure running the top_block." << std::endl; + + // TODO: Verify tracking results + std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl; +} +