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Merge remote-tracking branch 'cf/plot-corr' into next

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Add 2 new plots: correlators output and constellation diagram
This commit is contained in:
Carles Fernandez 2017-10-24 14:54:38 +02:00
commit 498dc22940
6 changed files with 194 additions and 130 deletions
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124
src/tests/common-files/gnuplot_i.h
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@ -51,19 +51,19 @@
#include <iostream> #include <iostream>
#include <string> #include <string>
#include <vector> #include <vector>
#include <fstream> #include <fstream>
#include <sstream> // for std::ostringstream #include <sstream> // for std::ostringstream
#include <stdexcept> #include <stdexcept>
#include <cstdio> #include <cstdio>
#include <cstdlib> // for getenv() #include <cstdlib> // for getenv()
#include <list> // for std::list #include <list> // for std::list
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__)
//defined for 32 and 64-bit environments //defined for 32 and 64-bit environments
#include <io.h> // for _access(), _mktemp() #include <io.h> // for _access(), _mktemp()
#define GP_MAX_TMP_FILES 27 // 27 temporary files it's Microsoft restriction #define GP_MAX_TMP_FILES 27 // 27 temporary files it's Microsoft restriction
#elif defined(unix) || defined(__unix) || defined(__unix__) || defined(__APPLE__) #elif defined(unix) || defined(__unix) || defined(__unix__) || defined(__APPLE__)
//all UNIX-like OSs (Linux, *BSD, MacOSX, Solaris, ...) //all UNIX-like OSs (Linux, *BSD, MacOSX, Solaris, ...)
#include <unistd.h> // for access(), mkstemp() #include <unistd.h> // for access(), mkstemp()
#define GP_MAX_TMP_FILES 64 #define GP_MAX_TMP_FILES 64
@ -266,24 +266,24 @@ public:
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
/// \brief unset smooth /// \brief unset smooth
/// attention: smooth is not set by default /// attention: smooth is not set by default
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- a reference to a gnuplot object /// \return <-- a reference to a gnuplot object
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
inline Gnuplot& unset_smooth(){ smooth = ""; return *this;}; inline Gnuplot& unset_smooth(){ smooth = ""; return *this;};
/// scales the size of the points used in plots /// scales the size of the points used in plots
Gnuplot& set_pointsize(const double pointsize = 1.0); Gnuplot& set_pointsize(const double pointsize = 1.0);
/// turns grid on/off /// turns grid on/off
inline Gnuplot& set_grid() {cmd("set grid"); return *this;}; inline Gnuplot& set_grid() {cmd("set grid"); return *this;};
/// grid is not set by default /// grid is not set by default
inline Gnuplot& unset_grid(){cmd("unset grid"); return *this;}; inline Gnuplot& unset_grid(){cmd("unset grid"); return *this;};
// ----------------------------------------------- // -----------------------------------------------
/// set the mulitplot mode /// set the mulitplot mode
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
@ -292,7 +292,7 @@ public:
// ----------------------------------------------- // -----------------------------------------------
/// unsets the mulitplot mode /// unsets the mulitplot mode
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
@ -320,7 +320,7 @@ public:
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// --------------------------------------------------------------------------- // ---------------------------------------------------------------------------
inline Gnuplot& unset_hidden3d(){cmd("unset hidden3d"); return *this;}; inline Gnuplot& unset_hidden3d(){cmd("unset hidden3d"); return *this;};
/// enables/disables contour drawing for surfaces (for 3d plot) /// enables/disables contour drawing for surfaces (for 3d plot)
/// base, surface, both /// base, surface, both
@ -337,7 +337,7 @@ public:
// ------------------------------------------------------------ // ------------------------------------------------------------
/// enables/disables the display of surfaces (for 3d plot) /// enables/disables the display of surfaces (for 3d plot)
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ------------------------------------------------------------------ // ------------------------------------------------------------------
@ -347,7 +347,7 @@ public:
/// surface is set by default, /// surface is set by default,
/// it disables the display of surfaces (for 3d plot) /// it disables the display of surfaces (for 3d plot)
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ------------------------------------------------------------------ // ------------------------------------------------------------------
@ -356,25 +356,25 @@ public:
/// switches legend on/off /// switches legend on/off
/// position: inside/outside, left/center/right, top/center/bottom, nobox/box /// position: inside/outside, left/center/right, top/center/bottom, nobox/box
Gnuplot& set_legend(const std::string &position = "default"); Gnuplot& set_legend(const std::string &position = "default");
// ------------------------------------------------------------------ // ------------------------------------------------------------------
/// \brief Switches legend off /// \brief Switches legend off
/// attention:legend is set by default /// attention:legend is set by default
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ------------------------------------------------------------------ // ------------------------------------------------------------------
inline Gnuplot& unset_legend(){cmd("unset key"); return *this;} inline Gnuplot& unset_legend(){cmd("unset key"); return *this;}
// ----------------------------------------------------------------------- // -----------------------------------------------------------------------
/// \brief sets and clears the title of a gnuplot session /// \brief sets and clears the title of a gnuplot session
/// ///
/// \param title --> the title of the plot [optional, default == ""] /// \param title --> the title of the plot [optional, default == ""]
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ----------------------------------------------------------------------- // -----------------------------------------------------------------------
inline Gnuplot& set_title(const std::string &title = "") inline Gnuplot& set_title(const std::string &title = "")
{ {
std::string cmdstr; std::string cmdstr;
@ -410,7 +410,7 @@ public:
Gnuplot& set_zrange(const double iFrom, const double iTo); Gnuplot& set_zrange(const double iFrom, const double iTo);
/// autoscale axis (set by default) of xaxis /// autoscale axis (set by default) of xaxis
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
@ -419,7 +419,7 @@ public:
// ----------------------------------------------- // -----------------------------------------------
/// autoscale axis (set by default) of yaxis /// autoscale axis (set by default) of yaxis
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
@ -428,7 +428,7 @@ public:
// ----------------------------------------------- // -----------------------------------------------
/// autoscale axis (set by default) of zaxis /// autoscale axis (set by default) of zaxis
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
@ -442,31 +442,31 @@ public:
/// turns on/off log scaling for the specified zaxis (logscale is not set by default) /// turns on/off log scaling for the specified zaxis (logscale is not set by default)
Gnuplot& set_zlogscale(const double base = 10); Gnuplot& set_zlogscale(const double base = 10);
// ----------------------------------------------- // -----------------------------------------------
/// turns off log scaling for the x axis /// turns off log scaling for the x axis
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ----------------------------------------------- // -----------------------------------------------
inline Gnuplot& unset_xlogscale(){cmd("unset logscale x"); return *this;}; inline Gnuplot& unset_xlogscale(){cmd("unset logscale x"); return *this;};
// ----------------------------------------------- // -----------------------------------------------
/// turns off log scaling for the y axis /// turns off log scaling for the y axis
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ----------------------------------------------- // -----------------------------------------------
inline Gnuplot& unset_ylogscale(){cmd("unset logscale y"); return *this;}; inline Gnuplot& unset_ylogscale(){cmd("unset logscale y"); return *this;};
// ----------------------------------------------- // -----------------------------------------------
/// turns off log scaling for the z axis /// turns off log scaling for the z axis
/// ///
/// \param --- /// \param ---
/// ///
/// \return <-- reference to the gnuplot object /// \return <-- reference to the gnuplot object
// ----------------------------------------------- // -----------------------------------------------
inline Gnuplot& unset_zlogscale(){cmd("unset logscale z"); return *this;}; inline Gnuplot& unset_zlogscale(){cmd("unset logscale z"); return *this;};
/// set palette range (autoscale by default) /// set palette range (autoscale by default)
@ -490,10 +490,13 @@ public:
Gnuplot& plotfile_xy(const std::string &filename, Gnuplot& plotfile_xy(const std::string &filename,
const unsigned int column_x = 1, const unsigned int column_x = 1,
const unsigned int column_y = 2, const unsigned int column_y = 2,
const std::string &title = ""); const std::string &title = "",
const unsigned int decimate = 1);
/// from data /// from data
template<typename X, typename Y> template<typename X, typename Y>
Gnuplot& plot_xy(const X& x, const Y& y, const std::string &title = ""); Gnuplot& plot_xy(const X& x, const Y& y,
const std::string &title = "",
const unsigned int decimate = 1);
/// plot x,y pairs with dy errorbars: x y dy /// plot x,y pairs with dy errorbars: x y dy
/// from file /// from file
@ -555,7 +558,7 @@ public:
///\brief replot repeats the last plot or splot command. ///\brief replot repeats the last plot or splot command.
/// this can be useful for viewing a plot with different set options, /// this can be useful for viewing a plot with different set options,
/// or when generating the same plot for several devices (showonscreen, savetops) /// or when generating the same plot for several devices (showonscreen, savetops)
/// ///
/// \param --- /// \param ---
/// ///
/// \return --- /// \return ---
@ -573,12 +576,12 @@ public:
// ------------------------------------------------------------------- // -------------------------------------------------------------------
/// \brief Is the gnuplot session valid ?? /// \brief Is the gnuplot session valid ??
/// ///
/// ///
/// \param --- /// \param ---
/// ///
/// \return true if valid, false if not /// \return true if valid, false if not
// ------------------------------------------------------------------- // -------------------------------------------------------------------
inline bool is_valid(){return(valid);}; inline bool is_valid(){return(valid);};
}; };
@ -724,7 +727,7 @@ Gnuplot& Gnuplot::plot_x(const X& x, const std::string &title)
/// Plots a 2d graph from a list of doubles: x y /// Plots a 2d graph from a list of doubles: x y
// //
template<typename X, typename Y> template<typename X, typename Y>
Gnuplot& Gnuplot::plot_xy(const X& x, const Y& y, const std::string &title) Gnuplot& Gnuplot::plot_xy(const X& x, const Y& y, const std::string &title, const unsigned int decimate)
{ {
if (x.size() == 0 || y.size() == 0) if (x.size() == 0 || y.size() == 0)
{ {
@ -752,7 +755,7 @@ Gnuplot& Gnuplot::plot_xy(const X& x, const Y& y, const std::string &title)
tmp.flush(); tmp.flush();
tmp.close(); tmp.close();
plotfile_xy(name, 1, 2, title); plotfile_xy(name, 1, 2, title, decimate);
return *this; return *this;
} }
@ -1483,7 +1486,8 @@ Gnuplot& Gnuplot::plotfile_x(const std::string &filename,
Gnuplot& Gnuplot::plotfile_xy(const std::string &filename, Gnuplot& Gnuplot::plotfile_xy(const std::string &filename,
const unsigned int column_x, const unsigned int column_x,
const unsigned int column_y, const unsigned int column_y,
const std::string &title) const std::string &title,
const unsigned int decimate)
{ {
// //
// check if file exists // check if file exists
@ -1499,7 +1503,7 @@ Gnuplot& Gnuplot::plotfile_xy(const std::string &filename,
else else
cmdstr << "plot "; cmdstr << "plot ";
cmdstr << "\"" << filename << "\" using " << column_x << ":" << column_y; cmdstr << "\"" << filename << "\" using " << column_x << ":" << column_y << " every " << std::to_string(decimate);
if (title == "") if (title == "")
cmdstr << " notitle "; cmdstr << " notitle ";
@ -1544,7 +1548,7 @@ Gnuplot& Gnuplot::plotfile_xy_err(const std::string &filename,
else else
cmdstr << "plot "; cmdstr << "plot ";
cmdstr << "\"" << filename << "\" using " cmdstr << "\"" << filename << "\" using "
<< column_x << ":" << column_y << ":" << column_dy << column_x << ":" << column_y << ":" << column_dy
<< " with errorbars "; << " with errorbars ";
@ -1586,7 +1590,7 @@ Gnuplot& Gnuplot::plotfile_xyz(const std::string &filename,
else else
cmdstr << "splot "; cmdstr << "splot ";
cmdstr << "\"" << filename << "\" using " << column_x << ":" << column_y cmdstr << "\"" << filename << "\" using " << column_x << ":" << column_y
<< ":" << column_z; << ":" << column_z;
if (title == "") if (title == "")
@ -1701,15 +1705,15 @@ Gnuplot& Gnuplot::cmd(const std::string &cmdstr)
// int fputs ( const char * str, FILE * stream ); // int fputs ( const char * str, FILE * stream );
// writes the string str to the stream. // writes the string str to the stream.
// The function begins copying from the address specified (str) until it // The function begins copying from the address specified (str) until it
// reaches the terminating null character ('\0'). This final // reaches the terminating null character ('\0'). This final
// null-character is not copied to the stream. // null-character is not copied to the stream.
fputs( (cmdstr+"\n").c_str(), gnucmd ); fputs( (cmdstr+"\n").c_str(), gnucmd );
// int fflush ( FILE * stream ); // int fflush ( FILE * stream );
// If the given stream was open for writing and the last i/o operation was // If the given stream was open for writing and the last i/o operation was
// an output operation, any unwritten data in the output buffer is written // an output operation, any unwritten data in the output buffer is written
// to the file. If the argument is a null pointer, all open files are // to the file. If the argument is a null pointer, all open files are
// flushed. The stream remains open after this call. // flushed. The stream remains open after this call.
fflush(gnucmd); fflush(gnucmd);
@ -1739,8 +1743,8 @@ Gnuplot& Gnuplot::cmd(const std::string &cmdstr)
void Gnuplot::init() void Gnuplot::init()
{ {
// char * getenv ( const char * name ); get value of environment variable // char * getenv ( const char * name ); get value of environment variable
// Retrieves a C string containing the value of the environment variable // Retrieves a C string containing the value of the environment variable
// whose name is specified as argument. If the requested variable is not // whose name is specified as argument. If the requested variable is not
// part of the environment list, the function returns a NULL pointer. // part of the environment list, the function returns a NULL pointer.
#if ( defined(unix) || defined(__unix) || defined(__unix__) ) && !defined(__APPLE__) #if ( defined(unix) || defined(__unix) || defined(__unix__) ) && !defined(__APPLE__)
if (getenv("DISPLAY") == NULL) if (getenv("DISPLAY") == NULL)
@ -1760,12 +1764,12 @@ void Gnuplot::init()
// //
// open pipe // open pipe
// //
std::string tmp = Gnuplot::m_sGNUPlotPath + "/" + std::string tmp = Gnuplot::m_sGNUPlotPath + "/" +
Gnuplot::m_sGNUPlotFileName; Gnuplot::m_sGNUPlotFileName;
// FILE *popen(const char *command, const char *mode); // FILE *popen(const char *command, const char *mode);
// The popen() function shall execute the command specified by the string // The popen() function shall execute the command specified by the string
// command, create a pipe between the calling program and the executed // command, create a pipe between the calling program and the executed
// command, and return a pointer to a stream that can be used to either read // command, and return a pointer to a stream that can be used to either read
// from or write to the pipe. // from or write to the pipe.
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__)
@ -1775,7 +1779,7 @@ void Gnuplot::init()
#endif #endif
// popen() shall return a pointer to an open stream that can be used to read // popen() shall return a pointer to an open stream that can be used to read
// or write to the pipe. Otherwise, it shall return a null pointer and may // or write to the pipe. Otherwise, it shall return a null pointer and may
// set errno to indicate the error. // set errno to indicate the error.
if (!gnucmd) if (!gnucmd)
{ {
@ -1803,7 +1807,7 @@ bool Gnuplot::get_program_path()
// //
// first look in m_sGNUPlotPath for Gnuplot // first look in m_sGNUPlotPath for Gnuplot
// //
std::string tmp = Gnuplot::m_sGNUPlotPath + "/" + std::string tmp = Gnuplot::m_sGNUPlotPath + "/" +
Gnuplot::m_sGNUPlotFileName; Gnuplot::m_sGNUPlotFileName;
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__) #if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__)
@ -1880,7 +1884,7 @@ bool Gnuplot::file_exists(const std::string &filename, int mode)
// int _access(const char *path, int mode); // int _access(const char *path, int mode);
// returns 0 if the file has the given mode, // returns 0 if the file has the given mode,
// it returns -1 if the named file does not exist or is not accessible in // it returns -1 if the named file does not exist or is not accessible in
// the given mode // the given mode
// mode = 0 (F_OK) (default): checks file for existence only // mode = 0 (F_OK) (default): checks file for existence only
// mode = 1 (X_OK): execution permission // mode = 1 (X_OK): execution permission
@ -1952,12 +1956,12 @@ std::string Gnuplot::create_tmpfile(std::ofstream &tmp)
// int mkstemp(char *name); // int mkstemp(char *name);
// shall replace the contents of the string pointed to by "name" by a unique // shall replace the contents of the string pointed to by "name" by a unique
// filename, and return a file descriptor for the file open for reading and // filename, and return a file descriptor for the file open for reading and
// writing. Otherwise, -1 shall be returned if no suitable file could be // writing. Otherwise, -1 shall be returned if no suitable file could be
// created. The string in template should look like a filename with six // created. The string in template should look like a filename with six
// trailing 'X' s; mkstemp() replaces each 'X' with a character from the // trailing 'X' s; mkstemp() replaces each 'X' with a character from the
// portable filename character set. The characters are chosen such that the // portable filename character set. The characters are chosen such that the
// resulting name does not duplicate the name of an existing file at the // resulting name does not duplicate the name of an existing file at the
// time of a call to mkstemp() // time of a call to mkstemp()
// //

2
src/tests/common-files/test_flags.h
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@ -39,4 +39,6 @@
DEFINE_string(gnuplot_executable, "", "Gnuplot binary path"); DEFINE_string(gnuplot_executable, "", "Gnuplot binary path");
#endif #endif
DEFINE_int32(plot_decimate, 1, "Decimate plots");
#endif #endif

2
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
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@ -54,7 +54,7 @@ bool tracking_dump_reader::read_binary_obs()
d_dump_file.read(reinterpret_cast<char *>(&aux2), sizeof(double)); d_dump_file.read(reinterpret_cast<char *>(&aux2), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&PRN), sizeof(unsigned int)); d_dump_file.read(reinterpret_cast<char *>(&PRN), sizeof(unsigned int));
} }
catch (const std::exception &e) catch (const std::ifstream::failure &e)
{ {
return false; return false;
} }

2
src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
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@ -40,7 +40,7 @@ bool tracking_true_obs_reader::read_binary_obs()
d_dump_file.read(reinterpret_cast<char *>(&prn_delay_chips), sizeof(double)); d_dump_file.read(reinterpret_cast<char *>(&prn_delay_chips), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&tow), sizeof(double)); d_dump_file.read(reinterpret_cast<char *>(&tow), sizeof(double));
} }
catch (const std::exception &e) catch (const std::ifstream::failure &e)
{ {
return false; return false;
} }

2
src/tests/unit-tests/signal-processing-blocks/libs/true_observables_reader.cc
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@ -34,7 +34,7 @@ bool true_observables_reader::read_binary_obs()
{ {
try try
{ {
for(int i=0;i<12;i++) for(int i = 0; i < 12; i++)
{ {
d_dump_file.read(reinterpret_cast<char *>(&gps_time_sec[i]), sizeof(double)); d_dump_file.read(reinterpret_cast<char *>(&gps_time_sec[i]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&doppler_l1_hz), sizeof(double)); d_dump_file.read(reinterpret_cast<char *>(&doppler_l1_hz), sizeof(double));

192
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
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@ -30,10 +30,12 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include <chrono>
#include <iostream> #include <iostream>
#include <unistd.h> #include <unistd.h>
#include <vector>
#include <armadillo> #include <armadillo>
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
@ -44,15 +46,15 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "gnss_block_factory.h" #include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "tracking_interface.h" #include "tracking_interface.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"
#include "gnss_synchro.h"
//#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "tracking_true_obs_reader.h" #include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h" #include "tracking_dump_reader.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
#include "gnuplot_i.h"
#include "test_flags.h"
DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
// ######## GNURADIO BLOCK MESSAGE RECEVER ######### // ######## GNURADIO BLOCK MESSAGE RECEVER #########
@ -97,7 +99,7 @@ void GpsL1CADllPllTrackingTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
GpsL1CADllPllTrackingTest_msg_rx::GpsL1CADllPllTrackingTest_msg_rx() : GpsL1CADllPllTrackingTest_msg_rx::GpsL1CADllPllTrackingTest_msg_rx() :
gr::block("GpsL1CADllPllTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) gr::block("GpsL1CADllPllTrackingTest_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->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTrackingTest_msg_rx::msg_handler_events, this, _1)); this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTrackingTest_msg_rx::msg_handler_events, this, _1));
@ -121,6 +123,8 @@ public:
std::string p4; std::string p4;
std::string p5; std::string p5;
std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking"; //"GPS_L1_CA_DLL_PLL_C_Aid_Tracking";
const int baseband_sampling_freq = FLAGS_fs_gen_sps; const int baseband_sampling_freq = FLAGS_fs_gen_sps;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs; std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
@ -216,14 +220,14 @@ void GpsL1CADllPllTrackingTest::configure_receiver()
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq)); config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
// Set Tracking // Set Tracking
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking"); config->set_property("Tracking_1C.implementation", implementation);
config->set_property("Tracking_1C.item_type", "gr_complex"); config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.if", "0"); config->set_property("Tracking_1C.pll_bw_hz", "20.0");
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", "2.0"); config->set_property("Tracking_1C.dll_bw_hz", "2.0");
config->set_property("Tracking_1C.early_late_space_chips", "0.5"); config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.extend_correlation_ms", "1");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
} }
@ -232,8 +236,7 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec & true_time_s,
arma::vec & meas_time_s, arma::vec & meas_time_s,
arma::vec & meas_value) arma::vec & meas_value)
{ {
//1. True value interpolation to match the measurement times // 1. True value interpolation to match the measurement times
arma::vec true_value_interp; arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0); arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid); true_time_s = true_time_s(true_time_s_valid);
@ -244,26 +247,26 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec & true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp); arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = meas_value - true_value_interp; err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance // 3. Mean err and variance
double error_mean = arma::mean(err); double error_mean = arma::mean(err);
double error_var = arma::var(err); double error_var = arma::var(err);
// 5. Peaks // 4. Peaks
double max_error = arma::max(err); double max_error = arma::max(err);
double min_error = arma::min(err); double min_error = arma::min(err);
//5. report // 5. report
std::streamsize ss = std::cout.precision(); std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
<< ", mean=" << error_mean << ", mean=" << error_mean
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl; << ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
std::cout.precision (ss); std::cout.precision (ss);
} }
@ -273,7 +276,7 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec & true
arma::vec & meas_time_s, arma::vec & meas_time_s,
arma::vec & meas_value) arma::vec & meas_value)
{ {
//1. True value interpolation to match the measurement times // 1. True value interpolation to match the measurement times
arma::vec true_value_interp; arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0); arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid); true_time_s = true_time_s(true_time_s_valid);
@ -284,13 +287,13 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec & true
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp); arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = meas_value - true_value_interp; err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance // 3. Mean err and variance
double error_mean = arma::mean(err); double error_mean = arma::mean(err);
double error_var = arma::var(err); double error_var = arma::var(err);
@ -298,7 +301,7 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec & true
double max_error = arma::max(err); double max_error = arma::max(err);
double min_error = arma::min(err); double min_error = arma::min(err);
//5. report // 5. report
std::streamsize ss = std::cout.precision(); std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
<< ", mean=" << error_mean << ", mean=" << error_mean
@ -312,7 +315,7 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec & true_time_s,
arma::vec & meas_time_s, arma::vec & meas_time_s,
arma::vec & meas_value) arma::vec & meas_value)
{ {
//1. True value interpolation to match the measurement times // 1. True value interpolation to match the measurement times
arma::vec true_value_interp; arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0); arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid); true_time_s = true_time_s(true_time_s_valid);
@ -323,14 +326,14 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec & true_time_s,
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp); arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = meas_value - true_value_interp; err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance // 3. Mean err and variance
double error_mean = arma::mean(err); double error_mean = arma::mean(err);
double error_var = arma::var(err); double error_var = arma::var(err);
@ -338,7 +341,7 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec & true_time_s,
double max_error = arma::max(err); double max_error = arma::max(err);
double min_error = arma::min(err); double min_error = arma::min(err);
//5. report // 5. report
std::streamsize ss = std::cout.precision(); std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
<< ", mean=" << error_mean << ", mean=" << error_mean
@ -358,41 +361,33 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
generate_signal(); generate_signal();
} }
struct timeval tv; std::chrono::time_point<std::chrono::system_clock> start, end;
long long int begin = 0;
long long int end = 0;
configure_receiver(); configure_receiver();
//open true observables log file written by the simulator // open true observables log file written by the simulator
tracking_true_obs_reader true_obs_data; tracking_true_obs_reader true_obs_data;
int test_satellite_PRN = FLAGS_test_satellite_PRN; int test_satellite_PRN = FLAGS_test_satellite_PRN;
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl; std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn"); std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
true_obs_file.append(std::to_string(test_satellite_PRN)); true_obs_file.append(std::to_string(test_satellite_PRN));
true_obs_file.append(".dat"); true_obs_file.append(".dat");
ASSERT_NO_THROW({ ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
if (true_obs_data.open_obs_file(true_obs_file) == false)
{
throw std::exception();
};
}) << "Failure opening true observables file" << std::endl;
top_block = gr::make_top_block("Tracking test"); top_block = gr::make_top_block("Tracking test");
//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1); std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);//std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make(); boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
// load acquisition data based on the first epoch of the true observations // load acquisition data based on the first epoch of the true observations
ASSERT_NO_THROW({ ASSERT_EQ(true_obs_data.read_binary_obs(), true)
if (true_obs_data.read_binary_obs() == false) << "Failure reading true tracking dump file." << std::endl
{ << "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
throw std::exception(); " is not available?";
};
}) << "Failure reading true observables file" << std::endl;
//restart the epoch counter // restart the epoch counter
true_obs_data.restart(); true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl; std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
@ -402,15 +397,15 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
ASSERT_NO_THROW( { ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID); tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl; }) << "Failure setting channel.";
ASSERT_NO_THROW( { ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro); tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl; }) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW( { ASSERT_NO_THROW( {
tracking->connect(top_block); tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block." << std::endl; }) << "Failure connecting tracking to the top_block.";
ASSERT_NO_THROW( { ASSERT_NO_THROW( {
std::string file = "./" + filename_raw_data; std::string file = "./" + filename_raw_data;
@ -422,20 +417,18 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 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->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); 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; }) << "Failure connecting the blocks of tracking test.";
tracking->start_tracking(); tracking->start_tracking();
EXPECT_NO_THROW( { EXPECT_NO_THROW( {
gettimeofday(&tv, NULL); start = std::chrono::system_clock::now();
begin = tv.tv_sec * 1000000 + tv.tv_usec;
top_block->run(); // Start threads and wait top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL); end = std::chrono::system_clock::now();
end = tv.tv_sec * 1000000 + tv.tv_usec; }) << "Failure running the top_block.";
}) << "Failure running the top_block." << std::endl;
//check results // check results
//load the true values // load the true values
long int nepoch = true_obs_data.num_epochs(); long int nepoch = true_obs_data.num_epochs();
std::cout << "True observation epochs=" << nepoch << std::endl; std::cout << "True observation epochs=" << nepoch << std::endl;
@ -458,13 +451,9 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
//load the measured values //load the measured values
tracking_dump_reader trk_dump; tracking_dump_reader trk_dump;
ASSERT_NO_THROW({
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false) ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
{ << "Failure opening tracking dump file";
throw std::exception();
};
}) << "Failure opening tracking dump file" << std::endl;
nepoch = trk_dump.num_epochs(); nepoch = trk_dump.num_epochs();
std::cout << "Measured observation epochs=" << nepoch << std::endl; std::cout << "Measured observation epochs=" << nepoch << std::endl;
@ -473,7 +462,13 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1); arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1); arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1); arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
std::vector<double> prompt;
std::vector<double> early;
std::vector<double> late;
std::vector<double> promptI;
std::vector<double> promptQ;
epoch_counter = 0; epoch_counter = 0;
while(trk_dump.read_binary_obs()) while(trk_dump.read_binary_obs())
{ {
@ -486,9 +481,14 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
trk_prn_delay_chips(epoch_counter) = delay_chips; trk_prn_delay_chips(epoch_counter) = delay_chips;
epoch_counter++; epoch_counter++;
prompt.push_back(trk_dump.abs_P);
early.push_back(trk_dump.abs_E);
late.push_back(trk_dump.abs_L);
promptI.push_back(trk_dump.prompt_I);
promptQ.push_back(trk_dump.prompt_Q);
} }
//Align initial measurements and cut the tracking pull-in transitory // Align initial measurements and cut the tracking pull-in transitory
double pull_in_offset_s = 1.0; double pull_in_offset_s = 1.0;
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first"); arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
@ -501,6 +501,64 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips); check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles); check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl; std::chrono::duration<double> elapsed_seconds = end - start;
} std::cout << "Signal tracking completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
if(FLAGS_plot_gps_l1_tracking_test == true)
{
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if(gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test 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
{
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);
std::vector<double> timevec;
double t = 0.0;
for (auto it = prompt.begin(); it != prompt.end(); it++)
{
timevec.push_back(t);
t = t + GPS_L1_CA_CODE_PERIOD;
}
Gnuplot g1("linespoints");
g1.set_title("GPS L1 C/A signal tracking correlators' output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g1.set_grid();
g1.set_xlabel("Time [s]");
g1.set_ylabel("Correlators' output");
g1.cmd("set key box opaque");
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
g1.plot_xy( timevec, prompt, "Prompt", decimate);
g1.plot_xy( timevec, early, "Early", decimate);
g1.plot_xy( timevec, late, "Late", decimate);
g1.savetops("Correlators_outputs");
g1.savetopdf("Correlators_outputs", 18);
g1.showonscreen(); // window output
Gnuplot g2("points");
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g2.set_grid();
g2.set_xlabel("Inphase");
g2.set_ylabel("Quadrature");
g2.cmd("set size ratio -1");
g2.plot_xy( promptI, promptQ);
g2.savetops("Constellation");
g2.savetopdf("Constellation", 18);
g2.showonscreen(); // window output
}
catch (GnuplotException ge)
{
std::cout << ge.what() << std::endl;
}
}
}
}