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Code Issues Releases Wiki Activity

[TAS-111] time synch check: first draft

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This commit is contained in:
Cesare G. Martínez 2024-01-20 10:21:22 +01:00
parent 13cc59c5fa
commit 50fbc3e9e5
3 changed files with 45 additions and 8 deletions
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3
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -188,6 +188,8 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
this->message_port_register_out(pmt::mp("pvt_to_trk"));
// Send PVT status to gnss_flowgraph
this->message_port_register_out(pmt::mp("status"));
// Send PVT time to OSNMA
this->message_port_register_out(pmt::mp("pvt_to_osnma"));
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
@ -2139,6 +2141,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// #### solve PVT and store the corrected observable set
if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, d_observable_interval_ms / 1000.0))
{
this->message_port_pub(pmt::mp("pvt_to_osnma"), pmt::make_any(convert_to_time_t(d_internal_pvt_solver->get_position_UTC_time())));
d_pvt_errors_counter = 0; // Reset consecutive PVT error counter
const double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();

48
src/core/libs/osnma_msg_receiver.cc
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@ -22,6 +22,7 @@
#include "gnss_crypto.h"
#include "gnss_satellite.h"
#include "osnma_dsm_reader.h" // for OSNMA_DSM_Reader
#include "pvt_interface.h"
#include <glog/logging.h> // for DLOG
#include <gnuradio/io_signature.h> // for gr::io_signature::make
#include <cmath>
@ -62,9 +63,6 @@ osnma_msg_receiver::osnma_msg_receiver(
d_old_mack_message.set_capacity(10);
// register OSNMA input message port from telemetry blocks
this->message_port_register_in(pmt::mp("OSNMA_from_TLM"));
// register OSNMA output message port to PVT block
this->message_port_register_out(pmt::mp("OSNMA_to_PVT"));
this->set_msg_handler(pmt::mp("OSNMA_from_TLM"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_osnma(PH1); });
@ -75,9 +73,33 @@ osnma_msg_receiver::osnma_msg_receiver(
boost::bind(&osnma_msg_receiver::msg_handler_osnma, this, _1));
#endif
#endif
// register OSNMA input message port from PVT block
this->message_port_register_in(pmt::mp("pvt_to_osnma"));
this->set_msg_handler(pmt::mp("pvt_to_osnma"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_pvt_to_osnma(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&osnma_msg_receiver::msg_handler_pvt_to_osnma, this, boost::placeholders::_1));
#else
boost::bind(&osnma_msg_receiver::msg_handler_pvt_to_osnma, this, _1));
#endif
#endif
// register OSNMA output message port to PVT block
this->message_port_register_out(pmt::mp("OSNMA_to_PVT"));
}
void osnma_msg_receiver::msg_handler_pvt_to_osnma(const pmt::pmt_t& msg)
{
try
{
d_receiver_time = wht::any_cast<std::time_t>(pmt::any_ref(msg)); // C: TODO - check if this is the correct way to get the time from the PVT block
}
catch (const pmt::exception& e)
{
LOG(WARNING) << "osnma_msg_receiver pmt exception: " << e.what();
}
}
void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
{
// requires mutex with msg_handler_osnma function called by the scheduler
@ -97,7 +119,18 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
<< ", from satellite "
<< sat
<< std::endl;
process_osnma_message(nma_msg);
// compare local time with OSNMA subframe time
d_GST_SIS = nma_msg->TOW_sf0 + nma_msg->WN_sf0 * 604800; // TODO - unsure about this operation and of the -24 seconds,...
double_t T_L = 15; // TODO - to define the maximum allowed time difference between local time and OSNMA subframe time
if(abs(d_GST_SIS - d_receiver_time) <= T_L)
{
process_osnma_message(nma_msg);
}
else
{
LOG(WARNING) << "OSNMA: Subframe received with time difference greater than " << T_L << " seconds";
}
}
else
{
@ -432,7 +465,6 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
d_public_key_verified = true;
d_crypto->set_public_key(d_osnma_data.d_dsm_pkr_message.npk);
}
}
}
@ -446,7 +478,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] = 0;
}
// reads Mack message
void osnma_msg_receiver::read_mack_block(const std::shared_ptr<OSNMA_msg>& osnma_msg)
{
uint32_t index = 0;
@ -789,6 +821,7 @@ void osnma_msg_receiver::read_mack_body()
void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>& osnma_msg)
{
// TODO - is it filled at this point always?
d_old_mack_message.push_back(d_osnma_data.d_mack_message); // C: old mack message is needed for
// MACSEQ validation - case no FLX Tags
@ -1018,7 +1051,6 @@ bool osnma_msg_receiver::verify_dsm_pkr(DSM_PKR_message message)
{
std::cout << "Galileo OSNMA: DSM-PKR verified successfully! " << std::endl;
return true;
// C: NPK verification against Merkle tree root.
}
else
{

2
src/core/libs/osnma_msg_receiver.h
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@ -60,6 +60,7 @@ private:
osnma_msg_receiver(const std::string& pemFilePath, const std::string& merkleFilePath);
void msg_handler_osnma(const pmt::pmt_t& msg);
void msg_handler_pvt_to_osnma(const pmt::pmt_t& msg);
void process_osnma_message(const std::shared_ptr<OSNMA_msg>& osnma_msg);
void read_nma_header(uint8_t nma_header);
void read_dsm_header(uint8_t dsm_header);
@ -88,6 +89,7 @@ private:
uint8_t d_Lt_min {}; // minimum equivalent tag length
uint32_t d_GST_0 {};
uint32_t d_GST_SIS {};
std::time_t d_receiver_time {};
};