Add acquisition grid plot

src/tests/common-files/gnuplot_i.h

@@ -510,6 +510,10 @@ public:
     Gnuplot& plot_xy_err(const X &x, const Y &y, const E &dy,
             const std::string &title = "");
 
+    template<typename X, typename Y, typename E>
+    Gnuplot& plot_grid3d(const X &x, const Y &y, const E &mag,
+            const std::string &title = "");
+
     /// plot x,y,z triples: x y z
     ///   from file
     Gnuplot& plotfile_xyz(const std::string &filename,
@@ -804,6 +808,63 @@ Gnuplot& Gnuplot::plot_xy_err(const X &x,
 }
 
 
+//------------------------------------------------------------------------------
+//
+// Plots a 3d grid
+//
+template<typename X, typename Y, typename E>
+Gnuplot& Gnuplot::plot_grid3d(const X &x,
+        const Y &y,
+        const E &mag,
+        const std::string &title)
+{
+    if (x.size() == 0 || y.size() == 0 )
+        {
+            throw GnuplotException("std::vectors too small");
+            return *this;
+        }
+    std::ofstream tmp;
+    std::string name = create_tmpfile(tmp);
+    if (name == "")
+        return *this;
+
+    //
+    // write the data to file
+    //
+    for (unsigned int i = 0; i < x.size(); i++)
+        {
+            for (unsigned int k = 0; k < y.size(); k++)
+                {
+                    tmp << static_cast<float>(x.at(i)) << " " << static_cast<float>(y.at(k)) << " " << mag.at(i).at(k) << std::endl;
+                }
+            tmp.flush();
+        }
+
+    tmp.close();
+
+    std::ostringstream cmdstr;
+    cmdstr << "set ticslevel 0\n";
+    cmdstr << "set hidden3d\n";
+    cmdstr << "unset colorbox\n";
+    cmdstr << "set border 5\n";
+    cmdstr << "unset ztics\n";
+
+    cmdstr << " splot \"" << name << "\" u 1:2:3";
+
+    if (title == "")
+        cmdstr << " notitle with " << pstyle << " palette";
+    else
+        cmdstr << " title \"" << title << "\" with " << pstyle << " palette";
+    cmdstr << "\n";
+
+    //
+    // Do the actual plot
+    //
+    cmd(cmdstr.str());
+
+    return *this;
+}
+
 //------------------------------------------------------------------------------
 //
 // Plots a 3d graph from a list of doubles: x y z

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc

@@ -34,6 +34,7 @@
 
 #include <chrono>
 #include <iostream>
+#include <boost/filesystem.hpp>
 #include <boost/make_shared.hpp>
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
@@ -47,8 +48,14 @@
 #include "in_memory_configuration.h"
 #include "gnss_sdr_valve.h"
 #include "gnss_synchro.h"
+#include "gnuplot_i.h"
+#include "test_flags.h"
+#include "acquisition_dump_reader.h"
 #include "gps_l1_ca_pcps_acquisition.h"
 
+DEFINE_bool(plot_acq_grid, false, "Plots results of GpsL1CaPcpsAcquisitionTest with gnuplot");
+
+
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class GpsL1CaPcpsAcquisitionTest_msg_rx;
@@ -120,6 +127,7 @@ protected:
     {}
 
     void init();
+    void plot_grid();
 
     gr::top_block_sptr top_block;
     std::shared_ptr<GNSSBlockFactory> factory;
@@ -136,24 +144,88 @@ void GpsL1CaPcpsAcquisitionTest::init()
     std::string signal = "1C";
     signal.copy(gnss_synchro.Signal, 2, 0);
     gnss_synchro.PRN = 1;
+    config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
     config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
-    config->set_property("Acquisition.item_type", "gr_complex");
+    config->set_property("Acquisition_1C.item_type", "gr_complex");
-    config->set_property("Acquisition.if", "0");
+    config->set_property("Acquisition_1C.if", "0");
-    config->set_property("Acquisition.coherent_integration_time_ms", "1");
+    config->set_property("Acquisition_1C.coherent_integration_time_ms", "1");
-    config->set_property("Acquisition.dump", "false");
+    if(FLAGS_plot_acq_grid == true)
-    config->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_Acquisition");
+        {
-    config->set_property("Acquisition.threshold", "0.00001");
+            config->set_property("Acquisition_1C.dump", "true");
-    config->set_property("Acquisition.doppler_max", "5000");
+        }
-    config->set_property("Acquisition.doppler_step", "500");
+    else
-    config->set_property("Acquisition.repeat_satellite", "false");
+        {
-    //config->set_property("Acquisition.pfa", "0.0");
+            config->set_property("Acquisition_1C.dump", "false");
+        }
+    config->set_property("Acquisition_1C.threshold", "0.00001");
+    config->set_property("Acquisition_1C.doppler_max", "5000");
+    config->set_property("Acquisition_1C.doppler_step", "500");
+    config->set_property("Acquisition_1C.repeat_satellite", "false");
+    //config->set_property("Acquisition_1C.pfa", "0.0");
+}
+
+
+void GpsL1CaPcpsAcquisitionTest::plot_grid()
+{
+    //load the measured values
+    std::string basename = "./data/acquisition_G_1C";
+    unsigned int sat = static_cast<unsigned int>(gnss_synchro.PRN);
+    unsigned int doppler_max = 5000; // !!!
+    unsigned int doppler_step = 100; // !!
+    unsigned int samples_per_code =  static_cast<unsigned int>(round(4000000 / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); // !!
+    acquisition_dump_reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code);
+
+    if(!acq_dump.read_binary_acq()) std::cout << "Error reading files" << std::endl;
+
+    std::vector<int> doppler = acq_dump.doppler;
+    std::vector<unsigned int> samples = acq_dump.samples;
+    std::vector<std::vector<float> > mag = acq_dump.mag;
+
+    const std::string gnuplot_executable(FLAGS_gnuplot_executable);
+    if(gnuplot_executable.empty())
+        {
+            std::cout << "WARNING: Although the flag plot_acq_grid has been set to TRUE," << std::endl;
+            std::cout << "gnuplot has not been found in your system." << std::endl;
+            std::cout << "Test results will not be plotted." << std::endl;
+        }
+    else
+        {
+            std::cout << "Plotting the acquisition grid..." << std::endl;
+            try
+            {
+                    boost::filesystem::path p(gnuplot_executable);
+                    boost::filesystem::path dir = p.parent_path();
+                    std::string gnuplot_path = dir.native();
+                    Gnuplot::set_GNUPlotPath(gnuplot_path);
+
+                    Gnuplot g1("lines");
+                    g1.set_title("GPS L1 C/A signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
+                    g1.set_xlabel("Doppler [Hz]");
+                    g1.set_ylabel("Sample");
+                    //g1.cmd("set view 60, 105, 1, 1");
+                    g1.plot_grid3d(doppler, samples, mag);
+
+                    g1.savetops("GPS_L1_acq_grid");
+                    g1.savetopdf("GPS_L1_acq_grid");
+                    g1.showonscreen();
+            }
+            catch (const GnuplotException & ge)
+            {
+                    std::cout << ge.what() << std::endl;
+            }
+        }
+    std::string data_str = "./data";
+    if (boost::filesystem::exists(data_str))
+        {
+            boost::filesystem::remove_all(data_str);
+        }
 }
 
 
 TEST_F(GpsL1CaPcpsAcquisitionTest, Instantiate)
 {
     init();
-    boost::shared_ptr<GpsL1CaPcpsAcquisition> acquisition = boost::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GpsL1CaPcpsAcquisition> acquisition = boost::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition_1C", 1, 1);
 }
 
 
@@ -167,7 +239,7 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ConnectAndRun)
 
     top_block = gr::make_top_block("Acquisition test");
     init();
-    boost::shared_ptr<GpsL1CaPcpsAcquisition> acquisition = boost::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    boost::shared_ptr<GpsL1CaPcpsAcquisition> acquisition = boost::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition_1C", 1, 1);
     boost::shared_ptr<GpsL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionTest_msg_rx_make();
 
     ASSERT_NO_THROW( {
@@ -178,14 +250,14 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ConnectAndRun)
         top_block->connect(valve, 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." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test.";
 
     EXPECT_NO_THROW( {
         start = std::chrono::system_clock::now();
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
         elapsed_seconds = end - start;
-    }) << "Failure running the top_block." << std::endl;
+    }) << "Failure running the top_block.";
 
     std::cout <<  "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
 }
@@ -194,7 +266,7 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ConnectAndRun)
 TEST_F(GpsL1CaPcpsAcquisitionTest, ValidationOfResults)
 {
     std::chrono::time_point<std::chrono::system_clock> start, end;
-    std::chrono::duration<double> elapsed_seconds(0);
+    std::chrono::duration<double> elapsed_seconds(0.0);
     top_block = gr::make_top_block("Acquisition test");
 
     double expected_delay_samples = 524;
@@ -202,32 +274,42 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ValidationOfResults)
 
     init();
 
-    std::shared_ptr<GpsL1CaPcpsAcquisition> acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 1);
+    if(FLAGS_plot_acq_grid == true)
+        {
+            std::string data_str = "./data";
+            if (boost::filesystem::exists(data_str))
+                {
+                    boost::filesystem::remove_all(data_str);
+                }
+            boost::filesystem::create_directory(data_str);
+        }
+
+    std::shared_ptr<GpsL1CaPcpsAcquisition> acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition_1C", 1, 1);
     boost::shared_ptr<GpsL1CaPcpsAcquisitionTest_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionTest_msg_rx_make();
 
     ASSERT_NO_THROW( {
         acquisition->set_channel(1);
-    }) << "Failure setting channel." << std::endl;
+    }) << "Failure setting channel.";
 
     ASSERT_NO_THROW( {
         acquisition->set_gnss_synchro(&gnss_synchro);
-    }) << "Failure setting gnss_synchro." << std::endl;
+    }) << "Failure setting gnss_synchro.";
 
     ASSERT_NO_THROW( {
         acquisition->set_threshold(0.001);
-    }) << "Failure setting threshold." << std::endl;
+    }) << "Failure setting threshold.";
 
     ASSERT_NO_THROW( {
         acquisition->set_doppler_max(5000);
-    }) << "Failure setting doppler_max." << std::endl;
+    }) << "Failure setting doppler_max.";
 
     ASSERT_NO_THROW( {
         acquisition->set_doppler_step(100);
-    }) << "Failure setting doppler_step." << std::endl;
+    }) << "Failure setting doppler_step.";
 
     ASSERT_NO_THROW( {
         acquisition->connect(top_block);
-    }) << "Failure connecting acquisition to the top_block." << std::endl;
+    }) << "Failure connecting acquisition to the top_block.";
 
     ASSERT_NO_THROW( {
         std::string path = std::string(TEST_PATH);
@@ -236,7 +318,7 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ValidationOfResults)
         gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
         top_block->connect(file_source, 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." << std::endl;
+    }) << "Failure connecting the blocks of acquisition test.";
 
     acquisition->set_local_code();
     acquisition->set_state(1); // Ensure that acquisition starts at the first sample
@@ -247,7 +329,7 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ValidationOfResults)
         top_block->run(); // Start threads and wait
         end = std::chrono::system_clock::now();
         elapsed_seconds = end - start;
-    }) << "Failure running the top_block." << std::endl;
+    }) << "Failure running the top_block.";
 
     unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
     std::cout <<  "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
@@ -259,4 +341,9 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ValidationOfResults)
 
     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(FLAGS_plot_acq_grid == true)
+        {
+            plot_grid();
+        }
 }

src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt

@@ -18,6 +18,7 @@
 
 
 set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
+    acquisition_dump_reader.cc
     tracking_dump_reader.cc
     tlm_dump_reader.cc  
     observables_dump_reader.cc    

src/tests/unit-tests/signal-processing-blocks/libs/acquisition_dump_reader.cc

@@ -0,0 +1,109 @@
+/*!
+ * \file acquisition_dump_reader.cc
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2017. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include <complex>
+#include "acquisition_dump_reader.h"
+
+bool acquisition_dump_reader::read_binary_acq()
+{
+    std::complex<float>* aux = new std::complex<float>[1];
+    for(int i = 0; i < d_num_doppler_bins; i++)
+        {
+            try
+            {
+                    std::ifstream ifs;
+                    ifs.exceptions( std::ifstream::failbit | std::ifstream::badbit );
+                    ifs.open(d_dump_filenames.at(i).c_str(), std::ios::in | std::ios::binary);
+                    d_dump_files.at(i).swap(ifs);
+                    if (d_dump_files.at(i).is_open())
+                        {
+                            for(int k = 0; k < d_samples_per_code; k++)
+                                {
+                                    d_dump_files.at(i).read(reinterpret_cast<char *>(&aux[0]), sizeof(std::complex<float>));
+                                    mag.at(i).at(k) = std::abs(*aux) / std::pow(d_samples_per_code, 2);
+                                }
+                        }
+                    else
+                        {
+                            std::cout << "File " << d_dump_filenames.at(i).c_str() << " not found." << std::endl;
+                            delete[] aux;
+                            return false;
+                        }
+                    d_dump_files.at(i).close();
+            }
+            catch (const std::ifstream::failure &e)
+            {
+                    std::cout << e.what() << std::endl;
+                    delete[] aux;
+                    return false;
+            }
+        }
+    delete[] aux;
+    return true;
+}
+
+
+acquisition_dump_reader::acquisition_dump_reader(std::string & basename, unsigned int sat, unsigned int doppler_max, unsigned int doppler_step, unsigned int samples_per_code)
+{
+    d_basename = basename;
+    d_sat = sat;
+    d_doppler_max = doppler_max;
+    d_doppler_step = doppler_step;
+    d_samples_per_code = samples_per_code;
+    d_num_doppler_bins = static_cast<unsigned int>(ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step)));
+    std::vector<std::vector<float> > mag_aux(d_num_doppler_bins, std::vector<float>(d_samples_per_code));
+    mag = mag_aux;
+    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+        {
+            doppler.push_back(-static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index);
+            d_dump_filenames.push_back(d_basename + "_sat_" + std::to_string(d_sat) + "_doppler_" + std::to_string(doppler.at(doppler_index)) + ".dat");
+        }
+    for (unsigned int k = 0; k < d_samples_per_code; k++)
+        {
+            samples.push_back(k);
+        }
+    for(int i = 0; i < d_num_doppler_bins; i++)
+        {
+            std::ifstream is;
+            d_dump_files.push_back(std::move(is));
+        }
+}
+
+
+acquisition_dump_reader::~acquisition_dump_reader()
+{
+    for(int i = 0; i < d_num_doppler_bins; i++)
+        {
+            if (d_dump_files.at(i).is_open() == true)
+                {
+                    d_dump_files.at(i).close();
+                }
+        }
+}

src/tests/unit-tests/signal-processing-blocks/libs/acquisition_dump_reader.h

@@ -0,0 +1,61 @@
+/*!
+ * \file acquisition_dump_reader.h
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2017. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2017  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_ACQUISITION_DUMP_READER_H
+#define GNSS_SDR_ACQUISITION_DUMP_READER_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class acquisition_dump_reader
+{
+public:
+    acquisition_dump_reader(std::string & basename, unsigned int sat, unsigned int doppler_max, unsigned int doppler_step, unsigned int samples_per_code);
+    ~acquisition_dump_reader();
+    bool read_binary_acq();
+
+    std::vector<int> doppler;
+    std::vector<unsigned int> samples;
+    std::vector<std::vector<float> > mag;
+
+private:
+    std::string d_basename;
+    unsigned int d_sat;
+    unsigned int d_doppler_max;
+    unsigned int d_doppler_step;
+    unsigned int d_samples_per_code;
+    unsigned int d_num_doppler_bins;
+    std::vector<std::string> d_dump_filenames;
+    std::vector<std::ifstream> d_dump_files;
+};
+
+#endif // GNSS_SDR_ACQUISITION_DUMP_READER_H