Modified unit-test

src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc

@@ -100,6 +100,8 @@ void signal_generator_c::init()
             ms_counter_.push_back(0);
             data_modulation_.push_back((GALILEO_E5A_I_SECONDARY_CODE.at(0) == '0' ? 1 : -1));
             pilot_modulation_.push_back((GALILEO_E5A_Q_SECONDARY_CODE[PRN_[sat]].at(0) == '0' ? 1 : -1));
+            data_modulation_.push_back((GALILEO_E5B_I_SECONDARY_CODE.at(0) == '0' ? 1 : -1));
+            pilot_modulation_.push_back((GALILEO_E5B_Q_SECONDARY_CODE[PRN_[sat]].at(0) == '0' ? 1 : -1));
 
             if (system_[sat] == "G")
                 {

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc

@@ -21,9 +21,10 @@
 
 
 #include "concurrent_queue.h"
+#include "configuration_interface.h"
 #include "fir_filter.h"
 #include "galileo_e5b_pcps_acquisition.h"
-#include "gnss_block_factory.h"
+#include "gen_signal_source.h"
 #include "gnss_block_interface.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
@@ -31,7 +32,7 @@
 #include "pass_through.h"
 #include "signal_generator.h"
 #include "signal_generator_c.h"
-#include <boost/make_shared.hpp>
+#include "boost/shared_ptr.hpp"
 #include <gnuradio/analog/sig_source_waveform.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/blocks/null_sink.h>
@@ -39,11 +40,10 @@
 #include <gtest/gtest.h>
 #include <pmt/pmt.h>
 #include <chrono>
-#include <cstdlib>
+#include <thread>
-#include <utility>
 #if HAS_GENERIC_LAMBDA
 #else
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
 #endif
 #ifdef GR_GREATER_38
 #include <gnuradio/analog/sig_source.h>
@@ -51,24 +51,25 @@
 #include <gnuradio/analog/sig_source_c.h>
 #endif
 
-
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class GalileoE5bPcpsAcquisitionTest_msg_rx;
 
 #if GNURADIO_USES_STD_POINTERS
-using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
+typedef std::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx> GalileoE5bPcpsAcquisitionTest_msg_rx_sptr;
 #else
-using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
+typedef boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx> GalileoE5bPcpsAcquisitionTest_msg_rx_sptr;
 #endif
 
-GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
+GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
+
 
 class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block
 {
 private:
-    friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
+    friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
     void msg_handler_events(pmt::pmt_t msg);
-    GalileoE5bPcpsAcquisitionTest_msg_rx();
+    explicit GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue);
+    Concurrent_Queue<int>& channel_internal_queue;
 
 public:
     int rx_message;
@@ -76,9 +77,9 @@ public:
 };
 
 
-GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make()
+GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue)
 {
-    return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx());
+    return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx(queue));
 }
 
 
@@ -86,25 +87,26 @@ void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
 {
     try
         {
-            int64_t message = pmt::to_long(std::move(msg));
+            int64_t message = pmt::to_long(msg);
             rx_message = message;
+            channel_internal_queue.push(rx_message);
         }
     catch (boost::bad_any_cast& e)
         {
-            std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
             rx_message = 0;
         }
 }
 
 
-GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue) : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
 {
     this->message_port_register_in(pmt::mp("events"));
     this->set_msg_handler(pmt::mp("events"),
 #if HAS_GENERIC_LAMBDA
-        [this](pmt::pmt_t&& PH1) { msg_handler_events(PH1); });
+        [this](auto&& PH1) { msg_handler_events(PH1); });
 #else
-#if BOOST_173_OR_GREATER
+#if USE_BOOST_BIND_PLACEHOLDERS
         boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, boost::placeholders::_1));
 #else
         boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
@@ -114,7 +116,9 @@ GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : g
 }
 
 
-GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx() = default;
+GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx()
+{
+}
 
 
 // ###########################################################
@@ -124,46 +128,109 @@ class GalileoE5bPcpsAcquisitionTest : public ::testing::Test
 protected:
     GalileoE5bPcpsAcquisitionTest()
     {
-        factory = std::make_shared<GNSSBlockFactory>();
-        config = std::make_shared<InMemoryConfiguration>();
         item_size = sizeof(gr_complex);
+        stop = false;
+        message = 0;
         gnss_synchro = Gnss_Synchro();
+        acquisition = 0;
+        init();
     }
 
-    ~GalileoE5bPcpsAcquisitionTest() = default;
+    ~GalileoE5bPcpsAcquisitionTest()
+    {
+    }
 
     void init();
+    void config_1();
+    void config_2();
+    void start_queue();
+    void wait_message();
+    void process_message();
+    void stop_queue();
 
+    Concurrent_Queue<int> channel_internal_queue;
+
+    std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue;
     gr::top_block_sptr top_block;
-    std::shared_ptr<GNSSBlockFactory> factory;
+    std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
     std::shared_ptr<InMemoryConfiguration> config;
     Gnss_Synchro gnss_synchro;
     size_t item_size;
+    bool stop;
+    int message;
+    std::thread ch_thread;
+
+    unsigned int integration_time_ms = 0;
+    unsigned int fs_in = 0;
+
+    double expected_delay_chips = 0.0;
+    double expected_doppler_hz = 0.0;
+    float max_doppler_error_hz = 0.0;
+    float max_delay_error_chips = 0.0;
+
+    unsigned int num_of_realizations = 0;
+    unsigned int realization_counter;
+    unsigned int detection_counter;
+    unsigned int correct_estimation_counter;
+    unsigned int acquired_samples;
+    unsigned int mean_acq_time_us;
+
+    double mse_doppler;
+    double mse_delay;
 };
 
 
 void GalileoE5bPcpsAcquisitionTest::init()
+{
+    message = 0;
+    realization_counter = 0;
+    detection_counter = 0;
+    correct_estimation_counter = 0;
+    acquired_samples = 0;
+    mse_doppler = 0;
+    mse_delay = 0;
+    mean_acq_time_us = 0;
+}
+
+
+void GalileoE5bPcpsAcquisitionTest::config_1()
 {
     gnss_synchro.Channel_ID = 0;
     gnss_synchro.System = 'E';
     std::string signal = "7X";
     signal.copy(gnss_synchro.Signal, 2, 0);
-    gnss_synchro.PRN = 1;
+
+    integration_time_ms = 1;
+    fs_in = 32e6;
+
+    expected_delay_chips = 255;
+    expected_doppler_hz = -1500;
+    max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 1;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
     config->set_property("SignalSource.item_type", "gr_complex");
+
     config->set_property("SignalSource.num_satellites", "1");
+
     config->set_property("SignalSource.system_0", "E");
     config->set_property("SignalSource.signal_0", "7X");
-    config->set_property("SignalSource.PRN_0", "11");
+    config->set_property("SignalSource.PRN_0", "10");
-    config->set_property("SignalSource.CN0_dB_0", "50");
+    config->set_property("SignalSource.CN0_dB_0", "44");
-    config->set_property("SignalSource.doppler_Hz_0", std::to_string(1000));
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
-    config->set_property("SignalSource.delay_chips_0", std::to_string(50));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
-    config->set_property("SignalSource.delay_sec_0", std::to_string(94));
+
     config->set_property("SignalSource.noise_flag", "false");
     config->set_property("SignalSource.data_flag", "false");
     config->set_property("SignalSource.BW_BB", "0.97");
-    config->set_property("SignalSource.dump", "false");
+
-    config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
-    config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
     config->set_property("InputFilter.implementation", "Fir_Filter");
     config->set_property("InputFilter.input_item_type", "gr_complex");
     config->set_property("InputFilter.output_item_type", "gr_complex");
@@ -182,46 +249,204 @@ void GalileoE5bPcpsAcquisitionTest::init()
     config->set_property("InputFilter.band2_error", "1.0");
     config->set_property("InputFilter.filter_type", "bandpass");
     config->set_property("InputFilter.grid_density", "16");
+
     config->set_property("Acquisition_7X.item_type", "gr_complex");
-    config->set_property("Acquisition_7X.coherent_integration_time_ms", "1");
+    config->set_property("Acquisition_7X.coherent_integration_time_ms",
-    config->set_property("Acquisition_7X.dump", "true");
+        std::to_string(integration_time_ms));
-    config->set_property("Acquisition_7X.dump_filename", "./acquisition");
+    //config->set_property("Acquisition_7X.max_dwells", "1");
     config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition");
-    config->set_property("Acquisition_7X.threshold", "0.001");
+    config->set_property("Acquisition_7X.threshold", "0.8");
     config->set_property("Acquisition_7X.doppler_max", "10000");
     config->set_property("Acquisition_7X.doppler_step", "250");
-    config->set_property("Acquisition_7X.repeat_satellite", "false");
+    config->set_property("Acquisition_7X.bit_transition_flag", "false");
+    config->set_property("Acquisition_7X.dump", "false");
+}
+
+
+void GalileoE5bPcpsAcquisitionTest::config_2()
+{
+    gnss_synchro.Channel_ID = 0;
+    gnss_synchro.System = 'E';
+    std::string signal = "7X";
+    signal.copy(gnss_synchro.Signal, 2, 0);
+
+    integration_time_ms = 1;
+    fs_in = 31.75e6;
+
+    expected_delay_chips = 374;
+    expected_doppler_hz = -2000;
+    max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
+    max_delay_error_chips = 0.50;
+
+    num_of_realizations = 100;
+
+    config = std::make_shared<InMemoryConfiguration>();
+
+    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
+
+    config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
+
+    config->set_property("SignalSource.item_type", "gr_complex");
+
+    config->set_property("SignalSource.num_satellites", "4");
+
+    config->set_property("SignalSource.system_0", "E");
+    config->set_property("SignalSource.signal_0", "7X");
+    config->set_property("SignalSource.PRN_0", "10");
+    config->set_property("SignalSource.CN0_dB_0", "44");
+    config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
+    config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
+
+    config->set_property("SignalSource.system_0", "E");
+    config->set_property("SignalSource.signal_0", "7X");
+    config->set_property("SignalSource.PRN_1", "15");
+    config->set_property("SignalSource.CN0_dB_1", "44");
+    config->set_property("SignalSource.doppler_Hz_1", "1000");
+    config->set_property("SignalSource.delay_chips_1", "100");
+
+    config->set_property("SignalSource.system_0", "E");
+    config->set_property("SignalSource.signal_0", "7X");
+    config->set_property("SignalSource.PRN_2", "21");
+    config->set_property("SignalSource.CN0_dB_2", "44");
+    config->set_property("SignalSource.doppler_Hz_2", "2000");
+    config->set_property("SignalSource.delay_chips_2", "200");
+
+    config->set_property("SignalSource.system_0", "E");
+    config->set_property("SignalSource.signal_0", "7X");
+    config->set_property("SignalSource.PRN_3", "22");
+    config->set_property("SignalSource.CN0_dB_3", "44");
+    config->set_property("SignalSource.doppler_Hz_3", "3000");
+    config->set_property("SignalSource.delay_chips_3", "300");
+
+    config->set_property("SignalSource.noise_flag", "true");
+    config->set_property("SignalSource.data_flag", "true");
+    config->set_property("SignalSource.BW_BB", "0.97");
+
+    config->set_property("InputFilter.implementation", "Fir_Filter");
+    config->set_property("InputFilter.input_item_type", "gr_complex");
+    config->set_property("InputFilter.output_item_type", "gr_complex");
+    config->set_property("InputFilter.taps_item_type", "float");
+    config->set_property("InputFilter.number_of_taps", "11");
+    config->set_property("InputFilter.number_of_bands", "2");
+    config->set_property("InputFilter.band1_begin", "0.0");
+    config->set_property("InputFilter.band1_end", "0.97");
+    config->set_property("InputFilter.band2_begin", "0.98");
+    config->set_property("InputFilter.band2_end", "1.0");
+    config->set_property("InputFilter.ampl1_begin", "1.0");
+    config->set_property("InputFilter.ampl1_end", "1.0");
+    config->set_property("InputFilter.ampl2_begin", "0.0");
+    config->set_property("InputFilter.ampl2_end", "0.0");
+    config->set_property("InputFilter.band1_error", "1.0");
+    config->set_property("InputFilter.band2_error", "1.0");
+    config->set_property("InputFilter.filter_type", "bandpass");
+    config->set_property("InputFilter.grid_density", "16");
+
+    config->set_property("Acquisition_7X.item_type", "gr_complex");
+    config->set_property("Acquisition_7X.coherent_integration_time_ms",
+        std::to_string(integration_time_ms));
+    //config->set_property("Acquisition_7X.max_dwells", "1");
+    config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition");
+    //config->set_property("Acquisition_7X.pfa", "0.01");
+    config->set_property("Acquisition_7X.doppler_max", "10000");
+    config->set_property("Acquisition_7X.doppler_step", "250");
+    config->set_property("Acquisition_7X.bit_transition_flag", "false");
+    config->set_property("Acquisition_7X.dump", "false");
+}
+
+
+void GalileoE5bPcpsAcquisitionTest::start_queue()
+{
+    stop = false;
+    ch_thread = std::thread(&GalileoE5bPcpsAcquisitionTest::wait_message, this);
+}
+
+
+void GalileoE5bPcpsAcquisitionTest::wait_message()
+{
+    struct timeval tv;
+    int64_t begin = 0;
+    int64_t end = 0;
+
+    while (!stop)
+        {
+            acquisition->reset();
+
+            gettimeofday(&tv, NULL);
+            begin = tv.tv_sec * 1e6 + tv.tv_usec;
+
+            channel_internal_queue.wait_and_pop(message);
+
+            gettimeofday(&tv, NULL);
+            end = tv.tv_sec * 1e6 + tv.tv_usec;
+
+            mean_acq_time_us += (end - begin);
+
+            process_message();
+        }
+}
+
+
+void GalileoE5bPcpsAcquisitionTest::process_message()
+{
+    if (message == 1)
+        {
+            detection_counter++;
+
+            // The term -5 is here to correct the additional delay introduced by the FIR filter
+            // The value 511.0 must be a variable, chips/length
+            double delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - (static_cast<double>(gnss_synchro.Acq_delay_samples) - 5.0) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
+            double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
+
+            mse_delay += std::pow(delay_error_chips, 2);
+            mse_doppler += std::pow(doppler_error_hz, 2);
+
+            if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
+                {
+                    correct_estimation_counter++;
+                }
+        }
+
+    realization_counter++;
+
+    std::cout << "Progress: " << round(static_cast<float>(realization_counter) / static_cast<float>(num_of_realizations) * 100.0) << "% \r" << std::flush;
+
+    if (realization_counter == num_of_realizations)
+        {
+            mse_delay /= num_of_realizations;
+            mse_doppler /= num_of_realizations;
+
+            mean_acq_time_us /= num_of_realizations;
+
+            stop_queue();
+            top_block->stop();
+        }
+}
+
+
+void GalileoE5bPcpsAcquisitionTest::stop_queue()
+{
+    stop = true;
 }
 
 
 TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate)
 {
-    init();
+    config_1();
-#if GNURADIO_USES_STD_POINTERS
+    acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
-    std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
-#else
-    boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
-#endif
 }
 
 
 TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
 {
-    int fs_in = 4000000;
+    int nsamples = floor(fs_in * integration_time_ms * 1e-3);
-    int nsamples = 4000;
     std::chrono::time_point<std::chrono::system_clock> begin, end;
     std::chrono::duration<double> elapsed_seconds(0);
-    std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
+    queue = std::make_shared<Concurrent_Queue<pmt::pmt_t> >();
-
     top_block = gr::make_top_block("Acquisition test");
-    init();
-#if GNURADIO_USES_STD_POINTERS
-    std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
-#else
-    boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
-#endif
 
-    auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make();
+    config_1();
+    acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
+    auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
 
     ASSERT_NO_THROW({
         acquisition->connect(top_block);
@@ -245,20 +470,15 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
 
 TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
 {
-    std::chrono::time_point<std::chrono::system_clock> begin, end;
+    config_1();
-    std::chrono::duration<double> elapsed_seconds(0);
+    queue = std::make_shared<Concurrent_Queue<pmt::pmt_t> >();
     top_block = gr::make_top_block("Acquisition test");
 
-    double expected_delay_samples = 2920;
+    acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
-    double expected_doppler_hz = -632;
+    auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
-    init();
-    std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
-    std::shared_ptr<FirFilter> input_filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
-    auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make();
-    std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
 
     ASSERT_NO_THROW({
-        acquisition->set_channel(1);
+        acquisition->set_channel(0);
     }) << "Failure setting channel.";
 
     ASSERT_NO_THROW({
@@ -266,51 +486,70 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
     }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW({
-        acquisition->set_threshold(0.001);
+        acquisition->set_doppler_max(10000);
-    }) << "Failure setting threshold.";
-
-    ASSERT_NO_THROW({
-        acquisition->set_doppler_max(5000);
     }) << "Failure setting doppler_max.";
 
     ASSERT_NO_THROW({
-        acquisition->set_doppler_step(100);
+        acquisition->set_doppler_step(500);
     }) << "Failure setting doppler_step.";
 
+    ASSERT_NO_THROW({
+        acquisition->set_threshold(0.0005);
+    }) << "Failure setting threshold.";
+
     ASSERT_NO_THROW({
         acquisition->connect(top_block);
+        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
     }) << "Failure connecting acquisition to the top_block.";
 
-    acquisition->set_local_code();
-    acquisition->set_state(1);  // Ensure that acquisition starts at the first sample
     acquisition->init();
 
     ASSERT_NO_THROW({
         std::shared_ptr<GNSSBlockInterface> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
         std::shared_ptr<GNSSBlockInterface> filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
         std::shared_ptr<GNSSBlockInterface> signal_source = std::make_shared<GenSignalSource>(signal_generator, filter, "SignalSource", queue.get());
-        filter->connect(top_block);
         signal_source->connect(top_block);
         top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
-        top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
     }) << "Failure connecting the blocks of acquisition test.";
 
+    // i = 0 --> satellite in acquisition is visible
+    // i = 1 --> satellite in acquisition is not visible
+    for (unsigned int i = 0; i < 2; i++)
+        {
+            init();
+
+            if (i == 0)
+                {
+                    gnss_synchro.PRN = 11;  // This satellite is visible
+                }
+            else if (i == 1)
+                {
+                    gnss_synchro.PRN = 19;  // This satellite is not visible
+                }
+
+            acquisition->set_local_code();
+            acquisition->set_state(1);  // Ensure that acquisition starts at the first sample
+            start_queue();
+
             EXPECT_NO_THROW({
-        begin = std::chrono::system_clock::now();
                 top_block->run();  // Start threads and wait
-        end = std::chrono::system_clock::now();
-        elapsed_seconds = end - begin;
             }) << "Failure running the top_block.";
 
-    uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
+            if (i == 0)
-    std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
+                {
+                    EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+                    if (message == 1)
+                        {
+                            EXPECT_EQ(static_cast<unsigned int>(0), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
+                        }
+                }
+            else if (i == 1)
+                {
+                    EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
+                }
 
-    ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
+            ASSERT_NO_THROW({
-
+                ch_thread.join();
-    double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
+            }) << "Failure while waiting the queue to stop";
-    float delay_error_chips = static_cast<float>(delay_error_samples) * 10230.0 / 4000.0;
+        }
-    double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
-
-    EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
-    EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
 }