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bds_b3i: fixing code with clang format

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Damian Miralles 2019-03-17 18:57:45 -05:00
parent 3136817737
commit 5a4227507d
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GPG Key ID: 8A92BA854ED245E1
4 changed files with 620 additions and 679 deletions
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56
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.cc
View File

@ -1,6 +1,6 @@
/*!
* \file beidou_b3i_telemetry_decoder.cc
* \brief Implementation of an adapter of a Beidou B1I NAV data decoder block
* \brief Implementation of an adapter of a Beidou B3I NAV data decoder block
* to a TelemetryDecoderInterface
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
*
@ -29,78 +29,56 @@
* -------------------------------------------------------------------------
*/
#include "beidou_b3i_telemetry_decoder.h"
#include "configuration_interface.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(
ConfigurationInterface *configuration, std::string role,
unsigned int in_streams, unsigned int out_streams)
: role_(role), in_streams_(in_streams), out_streams_(out_streams) {
std::string default_dump_filename = "./navigation.dat";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
dump_filename_ =
configuration->property(role + ".dump_filename", default_dump_filename);
// make telemetry decoder object
telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_);
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
channel_ = 0;
if (in_streams_ > 1)
{
if (in_streams_ > 1) {
LOG(ERROR) << "This implementation only supports one input stream";
}
if (out_streams_ > 1)
{
if (out_streams_ > 1) {
LOG(ERROR) << "This implementation only supports one output stream";
}
}
BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder() = default;
BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder()
{
}
void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite& satellite)
{
void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite &satellite) {
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(satellite_);
DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
}
void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block) {
if (top_block) { /* top_block is not null */
};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block) {
if (top_block) { /* top_block is not null */
};
// Nothing to disconnect
}
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block()
{
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block() {
return telemetry_decoder_;
}
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block()
{
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block() {
return telemetry_decoder_;
}

35
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.h
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@ -29,39 +29,32 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
#include "beidou_b3i_telemetry_decoder_gs.h"
#include "gnss_satellite.h" // for Gnss_Satellite
#include "telemetry_decoder_interface.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <cstddef> // for size_t
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a NAV data decoder for BEIDOU B1I
*/
class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface
{
class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface {
public:
BeidouB3iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~BeidouB3iTelemetryDecoder();
inline std::string role() override
{
return role_;
}
inline std::string role() override { return role_; }
//! Returns "BEIDOU_B3I_Telemetry_Decoder"
inline std::string implementation() override
{
inline std::string implementation() override {
return "BEIDOU_B3I_Telemetry_Decoder";
}
@ -70,18 +63,14 @@ public:
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
void set_satellite(const Gnss_Satellite& satellite) override;
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
inline void reset() override
{
return;
void set_satellite(const Gnss_Satellite &satellite) override;
inline void set_channel(int channel) override {
telemetry_decoder_->set_channel(channel);
}
inline size_t item_size() override
{
return 0;
}
inline void reset() override { return; }
inline size_t item_size() override { return 0; }
private:
beidou_b3i_telemetry_decoder_gs_sptr telemetry_decoder_;

512
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -28,7 +28,6 @@
* -------------------------------------------------------------------------
*/
#include "beidou_b3i_telemetry_decoder_gs.h"
#include "Beidou_B3I.h"
#include "Beidou_DNAV.h"
@ -37,78 +36,74 @@
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "gnss_synchro.h"
#include <cstdlib> // for abs
#include <exception> // for exception
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
#define CRC_ERROR_LIMIT 8
beidou_b3i_telemetry_decoder_gs_sptr
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump)
{
return beidou_b3i_telemetry_decoder_gs_sptr(new beidou_b3i_telemetry_decoder_gs(satellite, dump));
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
bool dump) {
return beidou_b3i_telemetry_decoder_gs_sptr(
new beidou_b3i_telemetry_decoder_gs(satellite, dump));
}
beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
const Gnss_Satellite &satellite,
bool dump) : gr::block("beidou_b3i_telemetry_decoder_gs",
const Gnss_Satellite &satellite, bool dump)
: gr::block("beidou_b3i_telemetry_decoder_gs",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) {
// Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite "<< this->d_satellite;
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite "
<< this->d_satellite;
d_samples_per_symbol = (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_samples_per_symbol =
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
d_samples_per_preamble =
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(
volk_gnsssdr_malloc(BEIDOU_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(
d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples =
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1')
{
for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++) {
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1') {
d_secondary_code_symbols[i] = 1;
}
else
{
} else {
d_secondary_code_symbols[i] = -1;
}
}
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
for (int32_t i = 0; i < d_symbols_per_preamble; i++) {
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
} else {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
@ -117,8 +112,11 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
d_subframe_symbols = static_cast<double *>(
volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
// Generic settings
@ -132,42 +130,33 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
d_flag_preamble = false;
d_channel = 0;
flag_SOW_set = false;
}
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
{
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs() {
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true)
{
try
{
if (d_dump_file.is_open() == true) {
try {
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} catch (const std::exception &ex) {
LOG(WARNING) << "Exception in destructor closing the dump file "
<< ex.what();
}
}
}
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
{
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
int32_t *decbits) {
int32_t bit, err, reg[4] = {1, 1, 1, 1};
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (uint32_t i = 0; i < 15; i++)
{
for (uint32_t i = 0; i < 15; i++) {
decbits[i] = bits[i];
}
for (uint32_t i = 0; i < 15; i++)
{
for (uint32_t i = 0; i < 15; i++) {
bit = reg[3];
reg[3] = reg[2];
reg[2] = reg[1];
@ -176,329 +165,313 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, in
reg[1] *= bit;
}
err = errind[reg[0] + reg[1]*2 + reg[2]*4 + reg[3]*8];
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
if (err > 0)
{
if (err > 0) {
decbits[err - 1] *= -1;
}
}
void beidou_b3i_telemetry_decoder_gs::decode_word(
int32_t word_counter,
const double* enc_word_symbols,
int32_t* dec_word_symbols)
{
int32_t word_counter, const double *enc_word_symbols,
int32_t *dec_word_symbols) {
int32_t bitsbch[30], first_branch[15], second_branch[15];
if (word_counter == 1)
{
for (uint32_t j = 0; j < 30; j++)
{
dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
if (word_counter == 1) {
for (uint32_t j = 0; j < 30; j++) {
dec_word_symbols[j] =
static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
}
}
else
{
for (uint32_t r = 0; r < 2; r++)
{
for (uint32_t c = 0; c < 15; c++)
{
bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1);
} else {
for (uint32_t r = 0; r < 2; r++) {
for (uint32_t c = 0; c < 15; c++) {
bitsbch[r * 15 + c] =
static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
}
}
decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch);
for (uint32_t j = 0; j < 11; j++)
{
for (uint32_t j = 0; j < 11; j++) {
dec_word_symbols[j] = first_branch[j];
dec_word_symbols[j + 11] = second_branch[j];
}
for (uint32_t j = 0; j < 4; j++)
{
for (uint32_t j = 0; j < 4; j++) {
dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j];
}
}
}
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
{
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
// 1. Transform from symbols to bits
std::string data_bits;
int32_t dec_word_bits[30];
// Decode each word in subframe
for(uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++) {
// decode the word
decode_word((ii+1), &frame_symbols[ii*30], dec_word_bits);
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
// Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
{
data_bits.push_back( (dec_word_bits[jj] > 0) ? ('1') : ('0') );
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++) {
data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0'));
}
}
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) {
d_nav.d2_subframe_decoder(data_bits);
}
else
{
} else {
d_nav.d1_subframe_decoder(data_bits);
}
// 3. Check operation executed correctly
if (d_nav.flag_crc_test == true)
{
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
}
else
{
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel << " from satellite " << d_satellite;
if (d_nav.flag_crc_test == true) {
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite;
} else {
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite;
}
// 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true)
{
if (d_nav.have_new_ephemeris() == true) {
// get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj =
std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel"
<< d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite << std::endl;
}
if (d_nav.have_new_utc_model() == true)
{
if (d_nav.have_new_utc_model() == true) {
// get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj = std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj =
std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B3I DNAV utc model message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
LOG(INFO) << "BEIDOU DNAV UTC Model have been received in channel"
<< d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B3I DNAV utc model message received in channel "
<< d_channel << ": UTC model parameters from satellite "
<< d_satellite << std::endl;
}
if (d_nav.have_new_iono() == true)
{
if (d_nav.have_new_iono() == true) {
// get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj =
std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B3I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << std::endl;
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel
<< " from satellite " << d_satellite;
std::cout << "New BEIDOU B3I DNAV Iono message received in channel "
<< d_channel << ": Iono model parameters from satellite "
<< d_satellite << std::endl;
}
if (d_nav.have_new_almanac() == true)
{
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl;
std::cout << "New BEIDOU B3I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
if (d_nav.have_new_almanac() == true) {
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj =
// std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
// this->message_port_pub(pmt::mp("telemetry"),
// pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel"
<< d_channel << " from satellite " << d_satellite << std::endl;
std::cout << "New BEIDOU B3I DNAV almanac received in channel " << d_channel
<< " from satellite " << d_satellite << std::endl;
}
}
void beidou_b3i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
{
void beidou_b3i_telemetry_decoder_gs::set_satellite(
const Gnss_Satellite &satellite) {
uint32_t sat_prn = 0;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Setting decoder Finite State Machine to satellite "
<< d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
// Update satellite information for DNAV decoder
sat_prn = d_satellite.get_PRN();
d_nav.i_satellite_PRN = sat_prn;
d_nav.i_signal_type = 5; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
d_nav.i_signal_type =
5; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
// Update tel dec parameters for D2 NAV Messages
if ( sat_prn > 0 and sat_prn < 6 )
{
if (sat_prn > 0 and sat_prn < 6) {
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
d_samples_per_symbol = (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_samples_per_symbol =
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_samples_per_preamble =
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = nullptr;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
d_preamble_samples = static_cast<int32_t *>(
volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_period_samples =
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
for (int32_t i = 0; i < d_symbols_per_preamble; i++) {
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
d_preamble_samples[n] = 1;
n++;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
} else {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
d_preamble_samples[n] = -1;
n++;
}
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
}
}
void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
{
void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel) {
d_channel = channel;
LOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
if (d_dump == true) {
if (d_dump_file.is_open() == false) {
try {
d_dump_filename = "telemetry";
d_dump_filename.append(std::to_string(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << ": exception opening Beidou TLM dump file. " << e.what();
d_dump_file.open(d_dump_filename.c_str(),
std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str();
} catch (const std::ifstream::failure &e) {
LOG(WARNING) << "channel " << d_channel
<< ": exception opening Beidou TLM dump file. "
<< e.what();
}
}
}
}
int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int beidou_b3i_telemetry_decoder_gs::general_work(
int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
int32_t corr_value = 0;
int32_t preamble_diff = 0;
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
auto **out = reinterpret_cast<Gnss_Synchro **>(
&output_items[0]); // Get the output buffer pointer
const auto **in = reinterpret_cast<const Gnss_Synchro **>(
&input_items[0]); // Get the input buffer pointer
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
Gnss_Synchro current_symbol; // structure to save the synchronization
// information and send the output object to the
// next block
// 1. Copy the current tracking output
current_symbol = in[0][0];
d_symbol_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
d_sample_counter++; //count for the processed samples
d_symbol_history.push_back(
current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples
consume_each(1);
d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols)
{
if (d_symbol_history.size() > d_required_symbols) {
//******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++)
{
for (int32_t i = 0; i < d_samples_per_preamble; i++) {
if (d_symbol_history[i] < 0) // symbols clipping
{
corr_value -= d_preamble_samples[i];
}
else
{
} else {
corr_value += d_preamble_samples[i];
}
}
}
//******* frame sync ******************
if (d_stat == 0) //no preamble information
{
if (abs(corr_value) >= d_samples_per_preamble)
if (d_stat == 0) // no preamble information
{
if (abs(corr_value) >= d_samples_per_preamble) {
// Record the preamble sample stamp
d_preamble_index = d_sample_counter;
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT " << this->d_satellite;
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT "
<< this->d_satellite;
// Enter into frame pre-detection status
d_stat = 1;
}
}
else if (d_stat == 1) // possible preamble lock
} else if (d_stat == 1) // possible preamble lock
{
if (abs(corr_value) >= d_samples_per_preamble)
{
//check preamble separation
if (abs(corr_value) >= d_samples_per_preamble) {
// check preamble separation
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
if (abs(preamble_diff - d_preamble_period_samples) == 0)
{
//try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
if (abs(preamble_diff - d_preamble_period_samples) == 0) {
// try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
d_stat = 2;
}
else
{
if (preamble_diff > d_preamble_period_samples)
{
} else {
if (preamble_diff > d_preamble_period_samples) {
d_stat = 0; // start again
}
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT " << this->d_satellite;
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite;
}
}
}
else if (d_stat == 2) // preamble acquired
{
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
} else if (d_stat == 2) // preamble acquired
{
if (d_sample_counter ==
d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples)) {
//******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
if (corr_value > 0) // normal PLL lock
{
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) {
d_subframe_symbols[i] = 0;
//integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++) {
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) {
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
d_subframe_symbols[i] +=
d_symbol_history.at(i * d_samples_per_symbol + m);
} else {
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
d_subframe_symbols[i] +=
static_cast<float>(d_secondary_code_symbols[k]) *
d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
}
}
}
else //180 deg. inverted carrier phase PLL lock
} else // 180 deg. inverted carrier phase PLL lock
{
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) {
d_subframe_symbols[i] = 0;
//integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++) {
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) {
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
d_subframe_symbols[i] -=
d_symbol_history.at(i * d_samples_per_symbol + m);
} else {
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
d_subframe_symbols[i] -=
static_cast<float>(d_secondary_code_symbols[k]) *
d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
@ -506,27 +479,26 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
}
}
//call the decoder
// call the decoder
decode_subframe(d_subframe_symbols);
if (d_nav.flag_crc_test == true)
{
if (d_nav.flag_crc_test == true) {
d_CRC_error_counter = 0;
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_preamble = true; // valid preamble indicator (initialized to
// false every work())
d_preamble_index =
d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync) {
d_flag_frame_sync = true;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT " << this->d_satellite;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT "
<< this->d_satellite;
}
}
else
{
} else {
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT) {
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
@ -536,57 +508,55 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
}
// UPDATE GNSS SYNCHRO DATA
//2. Add the telemetry decoder information
// 2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
//update TOW at the preamble instant
// update TOW at the preamble instant
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B3I_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms =
d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) *
BEIDOU_B3I_CODE_PERIOD_MS);
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
}
else //if there is not a new preamble, we define the TOW of the current symbol
} else // if there is not a new preamble, we define the TOW of the current
// symbol
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms +=
static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
}
if (d_flag_frame_sync == true and flag_SOW_set == true)
{
if (d_flag_frame_sync == true and flag_SOW_set == true) {
current_symbol.Flag_valid_word = true;
}
else
{
} else {
current_symbol.Flag_valid_word = false;
}
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump == true)
{
if (d_dump == true) {
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
try {
double tmp_double;
uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int),
sizeof(uint64_t));
tmp_double = d_nav.d_SOW;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
}
catch (const std::ifstream::failure &e)
{
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int),
sizeof(uint64_t));
} catch (const std::ifstream::failure &e) {
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
// 3. Make the output (copy the object contents to the GNURadio reserved
// memory)
*out[0] = current_symbol;
return 1;

28
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -35,25 +35,26 @@
#include "gnss_satellite.h"
#include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
#include <fstream>
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <string>
class beidou_b3i_telemetry_decoder_gs;
using beidou_b3i_telemetry_decoder_gs_sptr = boost::shared_ptr<beidou_b3i_telemetry_decoder_gs>;
using beidou_b3i_telemetry_decoder_gs_sptr =
boost::shared_ptr<beidou_b3i_telemetry_decoder_gs>;
beidou_b3i_telemetry_decoder_gs_sptr beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
beidou_b3i_telemetry_decoder_gs_sptr
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
bool dump);
/*!
* \brief This class implements a block that decodes the BeiDou DNAV data.
*
*/
class beidou_b3i_telemetry_decoder_gs : public gr::block
{
class beidou_b3i_telemetry_decoder_gs : public gr::block {
public:
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
@ -63,18 +64,20 @@ public:
* \brief This is where all signal processing takes place
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
private:
friend beidou_b3i_telemetry_decoder_gs_sptr
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
bool dump);
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t* dec_word_symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols,
int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding
int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols;
@ -89,7 +92,8 @@ private:
boost::circular_buffer<float> d_symbol_history;
// Variables for internal functionality
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc)
// indicating number of samples processed
uint64_t d_preamble_index; // Index of sample number where preamble was found
uint32_t d_stat; // Status of decoder
bool d_flag_frame_sync; // Indicate when a frame sync is achieved