mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 04:30:33 +00:00
Modified unit-test
This commit is contained in:
piyush0411
parent
8904eab576
commit
40556f7ac1
@ -100,6 +100,8 @@ void signal_generator_c::init()
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ms_counter_.push_back(0);
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data_modulation_.push_back((GALILEO_E5A_I_SECONDARY_CODE.at(0) == '0' ? 1 : -1));
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pilot_modulation_.push_back((GALILEO_E5A_Q_SECONDARY_CODE[PRN_[sat]].at(0) == '0' ? 1 : -1));
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data_modulation_.push_back((GALILEO_E5B_I_SECONDARY_CODE.at(0) == '0' ? 1 : -1));
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pilot_modulation_.push_back((GALILEO_E5B_Q_SECONDARY_CODE[PRN_[sat]].at(0) == '0' ? 1 : -1));
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if (system_[sat] == "G")
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{
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@ -21,9 +21,10 @@
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#include "concurrent_queue.h"
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#include "configuration_interface.h"
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#include "fir_filter.h"
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#include "galileo_e5b_pcps_acquisition.h"
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#include "gnss_block_factory.h"
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#include "gen_signal_source.h"
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#include "gnss_block_interface.h"
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#include "gnss_sdr_valve.h"
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#include "gnss_synchro.h"
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@ -31,7 +32,7 @@
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#include "pass_through.h"
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#include "signal_generator.h"
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#include "signal_generator_c.h"
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#include <boost/make_shared.hpp>
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#include "boost/shared_ptr.hpp"
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/blocks/null_sink.h>
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@ -39,11 +40,10 @@
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#include <gtest/gtest.h>
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#include <pmt/pmt.h>
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#include <chrono>
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#include <cstdlib>
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#include <utility>
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#include <thread>
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind.hpp>
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#include <boost/bind/bind.hpp>
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#endif
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#ifdef GR_GREATER_38
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#include <gnuradio/analog/sig_source.h>
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@ -51,24 +51,25 @@
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#include <gnuradio/analog/sig_source_c.h>
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#endif
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class GalileoE5bPcpsAcquisitionTest_msg_rx;
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#if GNURADIO_USES_STD_POINTERS
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using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
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typedef std::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx> GalileoE5bPcpsAcquisitionTest_msg_rx_sptr;
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#else
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using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
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typedef boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx> GalileoE5bPcpsAcquisitionTest_msg_rx_sptr;
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#endif
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
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class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block
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{
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private:
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friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
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friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
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void msg_handler_events(pmt::pmt_t msg);
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GalileoE5bPcpsAcquisitionTest_msg_rx();
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explicit GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue);
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Concurrent_Queue<int>& channel_internal_queue;
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public:
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int rx_message;
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@ -76,9 +77,9 @@ public:
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};
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make()
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue)
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{
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return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx());
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return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx(queue));
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}
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@ -86,25 +87,26 @@ void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
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{
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try
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{
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int64_t message = pmt::to_long(std::move(msg));
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int64_t message = pmt::to_long(msg);
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rx_message = message;
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channel_internal_queue.push(rx_message);
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}
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catch (boost::bad_any_cast& e)
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{
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std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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rx_message = 0;
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}
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}
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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))
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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)
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"),
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#if HAS_GENERIC_LAMBDA
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[this](pmt::pmt_t&& PH1) { msg_handler_events(PH1); });
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[this](auto&& PH1) { msg_handler_events(PH1); });
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#else
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#if BOOST_173_OR_GREATER
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, boost::placeholders::_1));
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#else
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boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
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@ -114,7 +116,9 @@ GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : g
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}
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GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx() = default;
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GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx()
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{
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}
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// ###########################################################
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@ -124,46 +128,109 @@ class GalileoE5bPcpsAcquisitionTest : public ::testing::Test
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protected:
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GalileoE5bPcpsAcquisitionTest()
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{
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factory = std::make_shared<GNSSBlockFactory>();
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config = std::make_shared<InMemoryConfiguration>();
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item_size = sizeof(gr_complex);
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stop = false;
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message = 0;
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gnss_synchro = Gnss_Synchro();
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acquisition = 0;
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init();
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}
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~GalileoE5bPcpsAcquisitionTest() = default;
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~GalileoE5bPcpsAcquisitionTest()
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{
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}
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void init();
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void config_1();
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void config_2();
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void start_queue();
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void wait_message();
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void process_message();
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void stop_queue();
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Concurrent_Queue<int> channel_internal_queue;
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std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue;
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gr::top_block_sptr top_block;
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std::shared_ptr<GNSSBlockFactory> factory;
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std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
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std::shared_ptr<InMemoryConfiguration> config;
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Gnss_Synchro gnss_synchro;
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size_t item_size;
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bool stop;
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int message;
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std::thread ch_thread;
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unsigned int integration_time_ms = 0;
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unsigned int fs_in = 0;
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double expected_delay_chips = 0.0;
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double expected_doppler_hz = 0.0;
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float max_doppler_error_hz = 0.0;
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float max_delay_error_chips = 0.0;
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unsigned int num_of_realizations = 0;
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unsigned int realization_counter;
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unsigned int detection_counter;
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unsigned int correct_estimation_counter;
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unsigned int acquired_samples;
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unsigned int mean_acq_time_us;
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double mse_doppler;
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double mse_delay;
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};
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void GalileoE5bPcpsAcquisitionTest::init()
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{
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message = 0;
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realization_counter = 0;
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detection_counter = 0;
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correct_estimation_counter = 0;
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acquired_samples = 0;
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mse_doppler = 0;
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mse_delay = 0;
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mean_acq_time_us = 0;
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}
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void GalileoE5bPcpsAcquisitionTest::config_1()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'E';
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std::string signal = "7X";
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signal.copy(gnss_synchro.Signal, 2, 0);
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gnss_synchro.PRN = 1;
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integration_time_ms = 1;
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fs_in = 32e6;
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expected_delay_chips = 255;
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expected_doppler_hz = -1500;
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max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
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max_delay_error_chips = 0.50;
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num_of_realizations = 1;
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config = std::make_shared<InMemoryConfiguration>();
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
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config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.item_type", "gr_complex");
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config->set_property("SignalSource.num_satellites", "1");
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.signal_0", "7X");
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config->set_property("SignalSource.PRN_0", "11");
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config->set_property("SignalSource.CN0_dB_0", "50");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(1000));
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config->set_property("SignalSource.delay_chips_0", std::to_string(50));
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config->set_property("SignalSource.delay_sec_0", std::to_string(94));
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config->set_property("SignalSource.PRN_0", "10");
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config->set_property("SignalSource.CN0_dB_0", "44");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.noise_flag", "false");
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config->set_property("SignalSource.data_flag", "false");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("SignalSource.dump", "false");
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config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
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config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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@ -182,46 +249,204 @@ void GalileoE5bPcpsAcquisitionTest::init()
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config->set_property("InputFilter.band2_error", "1.0");
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", "16");
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config->set_property("Acquisition_7X.item_type", "gr_complex");
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config->set_property("Acquisition_7X.coherent_integration_time_ms", "1");
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config->set_property("Acquisition_7X.dump", "true");
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config->set_property("Acquisition_7X.dump_filename", "./acquisition");
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config->set_property("Acquisition_7X.coherent_integration_time_ms",
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std::to_string(integration_time_ms));
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//config->set_property("Acquisition_7X.max_dwells", "1");
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config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition");
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config->set_property("Acquisition_7X.threshold", "0.001");
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config->set_property("Acquisition_7X.threshold", "0.8");
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config->set_property("Acquisition_7X.doppler_max", "10000");
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config->set_property("Acquisition_7X.doppler_step", "250");
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config->set_property("Acquisition_7X.repeat_satellite", "false");
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config->set_property("Acquisition_7X.bit_transition_flag", "false");
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config->set_property("Acquisition_7X.dump", "false");
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}
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void GalileoE5bPcpsAcquisitionTest::config_2()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'E';
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std::string signal = "7X";
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signal.copy(gnss_synchro.Signal, 2, 0);
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integration_time_ms = 1;
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fs_in = 31.75e6;
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expected_delay_chips = 374;
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expected_doppler_hz = -2000;
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max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
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max_delay_error_chips = 0.50;
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num_of_realizations = 100;
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config = std::make_shared<InMemoryConfiguration>();
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
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config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.item_type", "gr_complex");
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config->set_property("SignalSource.num_satellites", "4");
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.signal_0", "7X");
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config->set_property("SignalSource.PRN_0", "10");
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config->set_property("SignalSource.CN0_dB_0", "44");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.signal_0", "7X");
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config->set_property("SignalSource.PRN_1", "15");
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config->set_property("SignalSource.CN0_dB_1", "44");
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config->set_property("SignalSource.doppler_Hz_1", "1000");
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config->set_property("SignalSource.delay_chips_1", "100");
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.signal_0", "7X");
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config->set_property("SignalSource.PRN_2", "21");
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config->set_property("SignalSource.CN0_dB_2", "44");
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config->set_property("SignalSource.doppler_Hz_2", "2000");
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config->set_property("SignalSource.delay_chips_2", "200");
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config->set_property("SignalSource.system_0", "E");
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config->set_property("SignalSource.signal_0", "7X");
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config->set_property("SignalSource.PRN_3", "22");
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config->set_property("SignalSource.CN0_dB_3", "44");
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config->set_property("SignalSource.doppler_Hz_3", "3000");
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config->set_property("SignalSource.delay_chips_3", "300");
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config->set_property("SignalSource.noise_flag", "true");
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config->set_property("SignalSource.data_flag", "true");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", "11");
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config->set_property("InputFilter.number_of_bands", "2");
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config->set_property("InputFilter.band1_begin", "0.0");
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config->set_property("InputFilter.band1_end", "0.97");
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config->set_property("InputFilter.band2_begin", "0.98");
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config->set_property("InputFilter.band2_end", "1.0");
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config->set_property("InputFilter.ampl1_begin", "1.0");
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config->set_property("InputFilter.ampl1_end", "1.0");
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config->set_property("InputFilter.ampl2_begin", "0.0");
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config->set_property("InputFilter.ampl2_end", "0.0");
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config->set_property("InputFilter.band1_error", "1.0");
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config->set_property("InputFilter.band2_error", "1.0");
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", "16");
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config->set_property("Acquisition_7X.item_type", "gr_complex");
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config->set_property("Acquisition_7X.coherent_integration_time_ms",
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std::to_string(integration_time_ms));
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//config->set_property("Acquisition_7X.max_dwells", "1");
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config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition");
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//config->set_property("Acquisition_7X.pfa", "0.01");
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config->set_property("Acquisition_7X.doppler_max", "10000");
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config->set_property("Acquisition_7X.doppler_step", "250");
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config->set_property("Acquisition_7X.bit_transition_flag", "false");
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config->set_property("Acquisition_7X.dump", "false");
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}
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void GalileoE5bPcpsAcquisitionTest::start_queue()
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{
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stop = false;
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ch_thread = std::thread(&GalileoE5bPcpsAcquisitionTest::wait_message, this);
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}
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void GalileoE5bPcpsAcquisitionTest::wait_message()
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{
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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();
|
||||
#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
|
||||
config_1();
|
||||
acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
|
||||
{
|
||||
int fs_in = 4000000;
|
||||
int nsamples = 4000;
|
||||
int nsamples = floor(fs_in * integration_time_ms * 1e-3);
|
||||
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;
|
||||
std::chrono::duration<double> elapsed_seconds(0);
|
||||
config_1();
|
||||
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t> >();
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
|
||||
double expected_delay_samples = 2920;
|
||||
double expected_doppler_hz = -632;
|
||||
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>>();
|
||||
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->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);
|
||||
}) << "Failure setting threshold.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->set_doppler_max(5000);
|
||||
acquisition->set_doppler_max(10000);
|
||||
}) << "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.";
|
||||
|
||||
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.";
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
|
||||
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 11; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 19; // This satellite is not visible
|
||||
}
|
||||
|
||||
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
acquisition->set_local_code();
|
||||
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
|
||||
start_queue();
|
||||
|
||||
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
|
||||
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_NO_THROW({
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
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";
|
||||
if (i == 0)
|
||||
{
|
||||
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_NO_THROW({
|
||||
ch_thread.join();
|
||||
}) << "Failure while waiting the queue to stop";
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user