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More fixes (#25)

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* Clang Tidy fixes

* Fix some potential defects and be more consistent in class name. Improve const correctness

* Fix formatting

---------

Co-authored-by: cesaaargm <cesare.martinez@proton.me>
This commit is contained in:
Carles Fernandez 2024-08-11 12:44:18 +02:00 committed by GitHub
parent 79da7787ff
commit 5a634f7332
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GPG Key ID: B5690EEEBB952194
8 changed files with 118 additions and 123 deletions
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4
src/core/libs/osnma_msg_receiver.cc
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@ -77,7 +77,7 @@ osnma_msg_receiver::osnma_msg_receiver(const std::string& crtFilePath,
d_dsm_reader = std::make_unique<OSNMA_DSM_Reader>(); d_dsm_reader = std::make_unique<OSNMA_DSM_Reader>();
d_crypto = std::make_unique<Gnss_Crypto>(crtFilePath, merkleFilePath); d_crypto = std::make_unique<Gnss_Crypto>(crtFilePath, merkleFilePath);
d_helper = std::make_unique<Osnma_Helper>(); d_helper = std::make_unique<Osnma_Helper>();
d_nav_data_manager = std::make_unique<OSNMA_nav_data_Manager>(); d_nav_data_manager = std::make_unique<OSNMA_NavDataManager>();
if (d_crypto->have_public_key()) if (d_crypto->have_public_key())
{ // Hot start is enabled { // Hot start is enabled
@ -1192,7 +1192,7 @@ void osnma_msg_receiver::process_mack_message()
} }
d_nav_data_manager->update_nav_data(d_tags_awaiting_verify, tag_size); d_nav_data_manager->update_nav_data(d_tags_awaiting_verify, tag_size);
auto data_to_send = d_nav_data_manager->get_verified_data(); auto data_to_send = d_nav_data_manager->get_verified_data();
d_nav_data_manager->print_status(); d_nav_data_manager->log_status();
send_data_to_pvt(data_to_send); send_data_to_pvt(data_to_send);
remove_verified_tags(); remove_verified_tags();

4
src/core/libs/osnma_msg_receiver.h
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@ -26,7 +26,7 @@
#include "galileo_inav_message.h" // for OSNMA_msg #include "galileo_inav_message.h" // for OSNMA_msg
#include "gnss_block_interface.h" // for gnss_shared_ptr #include "gnss_block_interface.h" // for gnss_shared_ptr
#include "osnma_data.h" // for OSNMA_data structures #include "osnma_data.h" // for OSNMA_data structures
#include "osnma_nav_data_manager.h" // for OSNMA_nav_data_Manager #include "osnma_nav_data_manager.h" // for OSNMA_NavDataManager
#include <gnuradio/block.h> // for gr::block #include <gnuradio/block.h> // for gr::block
#include <pmt/pmt.h> // for pmt::pmt_t #include <pmt/pmt.h> // for pmt::pmt_t
#include <array> // for std::array #include <array> // for std::array
@ -115,7 +115,7 @@ private:
std::unique_ptr<Gnss_Crypto> d_crypto; // class for cryptographic functions std::unique_ptr<Gnss_Crypto> d_crypto; // class for cryptographic functions
std::unique_ptr<OSNMA_DSM_Reader> d_dsm_reader; // osnma parameters parser std::unique_ptr<OSNMA_DSM_Reader> d_dsm_reader; // osnma parameters parser
std::unique_ptr<Osnma_Helper> d_helper; // helper class with auxiliary functions std::unique_ptr<Osnma_Helper> d_helper; // helper class with auxiliary functions
std::unique_ptr<OSNMA_nav_data_Manager> d_nav_data_manager; // refactor for holding and processing navigation data std::unique_ptr<OSNMA_NavDataManager> d_nav_data_manager; // refactor for holding and processing navigation data
OSNMA_data d_osnma_data{}; OSNMA_data d_osnma_data{};

113
src/core/libs/osnma_nav_data_manager.cc
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@ -28,13 +28,13 @@
* @param PRNd The satellite ID. * @param PRNd The satellite ID.
* @param TOW The TOW of the received data. * @param TOW The TOW of the received data.
*/ */
void OSNMA_nav_data_Manager::add_navigation_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW) void OSNMA_NavDataManager::add_navigation_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW)
{ {
if (not have_nav_data(nav_bits, PRNd, TOW)) if (not have_nav_data(nav_bits, PRNd, TOW))
{ {
_satellite_nav_data[PRNd][TOW].add_nav_data(nav_bits); d_satellite_nav_data[PRNd][TOW].add_nav_data(nav_bits);
_satellite_nav_data[PRNd][TOW].PRNd = PRNd; d_satellite_nav_data[PRNd][TOW].PRNd = PRNd;
_satellite_nav_data[PRNd][TOW].set_tow_sf0(TOW); d_satellite_nav_data[PRNd][TOW].set_tow_sf0(TOW);
} }
} }
@ -42,17 +42,24 @@ void OSNMA_nav_data_Manager::add_navigation_data(const std::string& nav_bits, ui
/** /**
* @brief loops over the verified tags and updates the navigation data tag length * @brief loops over the verified tags and updates the navigation data tag length
*/ */
void OSNMA_nav_data_Manager::update_nav_data(const std::multimap<uint32_t, Tag>& tags_verified, const uint8_t tag_size) void OSNMA_NavDataManager::update_nav_data(const std::multimap<uint32_t, Tag>& tags_verified, uint8_t tag_size)
{ {
if (d_satellite_nav_data.empty())
{
return;
}
// loop through all tags // loop through all tags
for (const auto& tag : tags_verified) for (const auto& tag : tags_verified)
{ {
// if tag status is verified, look for corresponding OSNMA_NavData and add increase verified tag bits. // if tag status is verified, look for corresponding OSNMA_NavData and add increase verified tag bits.
if (tag.second.status == Tag::e_verification_status::SUCCESS) if (tag.second.status == Tag::e_verification_status::SUCCESS)
{ {
if (have_PRNd_nav_data(tag.second.PRN_d)) auto sat_it = d_satellite_nav_data.find(tag.second.PRN_d);
if (sat_it == d_satellite_nav_data.end())
{ {
std::map<uint32_t, OSNMA_NavData> tow_map = _satellite_nav_data.find(tag.second.PRN_d)->second; continue;
}
auto& tow_map = sat_it->second;
for (auto& tow_it : tow_map) // note: starts with smallest (i.e. oldest) navigation dataset for (auto& tow_it : tow_map) // note: starts with smallest (i.e. oldest) navigation dataset
{ {
std::string nav_data; std::string nav_data;
@ -67,8 +74,7 @@ void OSNMA_nav_data_Manager::update_nav_data(const std::multimap<uint32_t, Tag>&
// find associated OSNMA_NavData // find associated OSNMA_NavData
if (tag.second.nav_data == nav_data) if (tag.second.nav_data == nav_data)
{ {
_satellite_nav_data[tag.second.PRN_d][tow_it.first].verified_bits += tag_size; d_satellite_nav_data[tag.second.PRN_d][tow_it.first].verified_bits += tag_size;
}
} }
} }
} }
@ -76,24 +82,17 @@ void OSNMA_nav_data_Manager::update_nav_data(const std::multimap<uint32_t, Tag>&
} }
bool OSNMA_nav_data_Manager::have_PRNd_nav_data(uint32_t PRNd) std::vector<OSNMA_NavData> OSNMA_NavDataManager::get_verified_data()
{
// check if have data from PRNd in _satellite_nav_data
return _satellite_nav_data.find(PRNd) != _satellite_nav_data.end();
}
std::vector<OSNMA_NavData> OSNMA_nav_data_Manager::get_verified_data()
{ {
std::vector<OSNMA_NavData> result; std::vector<OSNMA_NavData> result;
for (const auto& prna : _satellite_nav_data) for (const auto& prna : d_satellite_nav_data)
{ {
for (const auto& tow_navdata : prna.second) for (const auto& tow_navdata : prna.second)
{ {
if (tow_navdata.second.verified_bits >= L_t_min) if (tow_navdata.second.verified_bits >= L_t_min)
{ {
result.push_back(tow_navdata.second); result.push_back(tow_navdata.second);
_satellite_nav_data[prna.first][tow_navdata.first].verified = true; d_satellite_nav_data[prna.first][tow_navdata.first].verified = true;
} }
} }
} }
@ -101,45 +100,37 @@ std::vector<OSNMA_NavData> OSNMA_nav_data_Manager::get_verified_data()
} }
bool OSNMA_nav_data_Manager::have_nav_data(uint32_t PRNd, uint32_t TOW, uint8_t ADKD) bool OSNMA_NavDataManager::have_nav_data(uint32_t PRNd, uint32_t TOW, uint8_t ADKD) const
{ {
if (ADKD == 0 || ADKD == 12) const auto sat_it = d_satellite_nav_data.find(PRNd);
if (sat_it == d_satellite_nav_data.cend())
{ {
const auto it = _satellite_nav_data.find(PRNd);
if (it != _satellite_nav_data.cend())
{
const auto it2 = it->second.find(TOW);
if (it2 != it->second.cend() && !it->second[TOW].get_ephemeris_data().empty())
{
return true;
}
}
}
else if (ADKD == 4)
{
const auto it = _satellite_nav_data.find(PRNd);
if (it != _satellite_nav_data.cend())
{
const auto it2 = it->second.find(TOW);
if (it2 != it->second.cend() && !it->second[TOW].get_utc_data().empty())
{
return true;
}
}
}
return false; return false;
} }
const auto tow_it = sat_it->second.find(TOW);
/** if (tow_it == sat_it->second.cend())
* @brief returns OSNMA_NavData object.
* @remarks assumes it exists (called have_nav_data before), otherwise undefined behavior
* TODO - maybe add const promise and use find() instead? this is kinda sensitive topic.
*/
std::string OSNMA_nav_data_Manager::get_navigation_data(const Tag& tag)
{ {
auto prn_it = _satellite_nav_data.find(tag.PRN_d); return false;
if (prn_it == _satellite_nav_data.end()) }
switch (ADKD)
{
case 0:
case 12:
return !tow_it->second.get_ephemeris_data().empty();
case 4:
return !tow_it->second.get_utc_data().empty();
default:
return false;
}
}
std::string OSNMA_NavDataManager::get_navigation_data(const Tag& tag) const
{
auto prn_it = d_satellite_nav_data.find(tag.PRN_d);
if (prn_it == d_satellite_nav_data.end())
{ {
return ""; return "";
} }
@ -178,11 +169,11 @@ std::string OSNMA_nav_data_Manager::get_navigation_data(const Tag& tag)
* @param PRNd * @param PRNd
* @return * @return
*/ */
bool OSNMA_nav_data_Manager::have_nav_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW) bool OSNMA_NavDataManager::have_nav_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW)
{ {
if (_satellite_nav_data.find(PRNd) != _satellite_nav_data.end()) if (d_satellite_nav_data.find(PRNd) != d_satellite_nav_data.end())
{ {
for (auto& data_timestamp : _satellite_nav_data[PRNd]) for (auto& data_timestamp : d_satellite_nav_data[PRNd])
{ {
if (nav_bits.size() == EPH_SIZE) if (nav_bits.size() == EPH_SIZE)
{ {
@ -211,10 +202,10 @@ bool OSNMA_nav_data_Manager::have_nav_data(const std::string& nav_bits, uint32_t
* @param t Tag object * @param t Tag object
* @return True if the needed navigation data for the tag is available (oldest possible OSNMA_NavData available) * @return True if the needed navigation data for the tag is available (oldest possible OSNMA_NavData available)
*/ */
bool OSNMA_nav_data_Manager::have_nav_data(const Tag& t) const bool OSNMA_NavDataManager::have_nav_data(const Tag& t) const
{ {
auto prn_it = _satellite_nav_data.find(t.PRN_d); auto prn_it = d_satellite_nav_data.find(t.PRN_d);
if (prn_it == _satellite_nav_data.end()) if (prn_it == d_satellite_nav_data.end())
{ {
return false; return false;
} }
@ -245,9 +236,9 @@ bool OSNMA_nav_data_Manager::have_nav_data(const Tag& t) const
} }
void OSNMA_nav_data_Manager::print_status() void OSNMA_NavDataManager::log_status() const
{ {
for (const auto& satellite : _satellite_nav_data) for (const auto& satellite : d_satellite_nav_data)
{ {
LOG(INFO) << "Galileo OSNMA: NavData status :: SVID=" << satellite.first; LOG(INFO) << "Galileo OSNMA: NavData status :: SVID=" << satellite.first;
const auto& tow_data = satellite.second; const auto& tow_data = satellite.second;
@ -258,7 +249,7 @@ void OSNMA_nav_data_Manager::print_status()
<< ", TOW_start=" << ", TOW_start="
<< nav_data.second.get_tow_sf0() << nav_data.second.get_tow_sf0()
<< ", TOW_last=" << ", TOW_last="
<< nav_data.second.last_received_TOW << nav_data.second.get_last_received_TOW()
<< ", l_t=" << ", l_t="
<< nav_data.second.verified_bits << nav_data.second.verified_bits
<< ", PRNd=" << ", PRNd="

32
src/core/libs/osnma_nav_data_manager.h
View File

@ -17,8 +17,8 @@
#ifndef GNSS_SDR_OSNMA_NAV_DATA_MANAGER_H #ifndef GNSS_SDR_OSNMA_NAV_DATA_MANAGER_H
#define GNSS_SDR_OSNMA_NAV_DATA_MANAGER_H #define GNSS_SDR_OSNMA_NAV_DATA_MANAGER_H
#include "osnma_data.h" // NavData #include "osnma_data.h" // for OSNMA_NavData, Tag
#include <cstdint> // uint32_t #include <cstdint> // for uint32_t
#include <map> #include <map>
#include <string> #include <string>
#include <vector> #include <vector>
@ -29,33 +29,29 @@
* \{ */ * \{ */
/** /**
* @class OSNMA_nav_data_Manager * @class OSNMA_NavDataManager
* @brief Class for managing OSNMA navigation data * @brief Class for managing OSNMA navigation data
* @details It does good stuff
* @remarks throw it whatever, it will improve it. Does good stuff
*/ */
class OSNMA_nav_data_Manager class OSNMA_NavDataManager
{ {
public: public:
OSNMA_nav_data_Manager() = default; OSNMA_NavDataManager() = default;
bool have_nav_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW);
bool have_nav_data(uint32_t PRNd, uint32_t TOW, uint8_t ADKD);
bool have_nav_data(const Tag& t) const;
void add_navigation_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW); // gets the bits and adds them to the list
std::string get_navigation_data(const Tag& t);
void update_nav_data(const std::multimap<uint32_t, Tag>& tags_verified, const uint8_t tag_size); void log_status() const;
bool have_nav_data(const Tag& t) const;
bool have_nav_data(uint32_t PRNd, uint32_t TOW, uint8_t ADKD) const;
std::string get_navigation_data(const Tag& t) const;
void add_navigation_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW);
void update_nav_data(const std::multimap<uint32_t, Tag>& tags_verified, uint8_t tag_size);
bool have_nav_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW);
std::vector<OSNMA_NavData> get_verified_data(); std::vector<OSNMA_NavData> get_verified_data();
void print_status();
private: private:
bool have_PRNd_nav_data(uint32_t PRNd); std::map<uint32_t, std::map<uint32_t, OSNMA_NavData>> d_satellite_nav_data{}; // NavData sorted by [PRNd][TOW_start]
std::map<uint32_t, std::map<uint32_t, OSNMA_NavData>> _satellite_nav_data{}; // NavData sorted by [PRNd][TOW_start]
const uint32_t L_t_min{40}; const uint32_t L_t_min{40};
const uint16_t EPH_SIZE{549}; const uint16_t EPH_SIZE{549};
const uint16_t UTC_SIZE{141}; const uint16_t UTC_SIZE{141};
const uint16_t MAX_ALLOWED_SIZE{150}; // arbitrary maximum for the navigation data container
}; };
/** \} */ /** \} */

8
src/core/system_parameters/osnma_data.cc
View File

@ -35,19 +35,25 @@ bool OSNMA_NavData::add_nav_data(const std::string& nav_data)
} }
return false; return false;
} }
std::string OSNMA_NavData::get_utc_data() const std::string OSNMA_NavData::get_utc_data() const
{ {
return d_utc; return d_utc;
} }
std::string OSNMA_NavData::get_ephemeris_data() const std::string OSNMA_NavData::get_ephemeris_data() const
{ {
return d_ephemeris_iono; return d_ephemeris_iono;
} }
/** /**
* Updates the last TOW the NavData bits were received. * Updates the last TOW the NavData bits were received.
* @param TOW * @param TOW
*/ */
void OSNMA_NavData::update_last_received_timestamp(uint32_t TOW) void OSNMA_NavData::update_last_received_timestamp(uint32_t TOW)
{ {
last_received_TOW = TOW; d_last_received_TOW = TOW;
} }

19
src/core/system_parameters/osnma_data.h
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@ -136,35 +136,34 @@ class OSNMA_NavData
{ {
public: public:
OSNMA_NavData() : nav_data_id(id_counter++) {} OSNMA_NavData() : nav_data_id(id_counter++) {}
const uint32_t nav_data_id;
std::string get_utc_data() const; std::string get_utc_data() const;
std::string get_ephemeris_data() const; std::string get_ephemeris_data() const;
uint32_t get_tow_sf0() const { return TOW_sf0; } uint32_t get_last_received_TOW() const { return d_last_received_TOW; }
uint32_t get_tow_sf0() const { return d_TOW_sf0; }
const uint32_t nav_data_id;
bool have_this_bits(std::string nav_data);
bool add_nav_data(const std::string& nav_data); bool add_nav_data(const std::string& nav_data);
bool verified{false}; void set_tow_sf0(int value) { d_TOW_sf0 = value; }
void update_last_received_timestamp(uint32_t TOW);
void set_tow_sf0(int value) { TOW_sf0 = value; }
void set_ephemeris_data(std::string value) { d_ephemeris_iono = value; } void set_ephemeris_data(std::string value) { d_ephemeris_iono = value; }
void set_utc_data(std::string value) { d_utc = value; } void set_utc_data(std::string value) { d_utc = value; }
void update_last_received_timestamp(uint32_t TOW);
uint32_t verified_bits{0}; uint32_t verified_bits{0};
uint32_t last_received_TOW{0};
uint32_t IOD_nav{0}; uint32_t IOD_nav{0};
uint32_t PRNd{0}; uint32_t PRNd{0};
uint32_t ADKD{}; uint32_t ADKD{};
bool verified{false};
private: private:
std::string d_ephemeris_iono{""}; std::string d_ephemeris_iono{""};
std::string d_utc{""}; std::string d_utc{""};
uint32_t TOW_sf0{0}; uint32_t d_TOW_sf0{0};
uint32_t d_last_received_TOW{0};
static uint32_t id_counter; static uint32_t id_counter;
}; };
/*! /*!
* \brief This class handles ONSMA data * \brief This class handles ONSMA data
* See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OSNMA_User_ICD_for_Test_Phase_v1.0.pdf * See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OSNMA_User_ICD_for_Test_Phase_v1.0.pdf

8
src/tests/unit-tests/signal-processing-blocks/osnma/osnma_msg_receiver_test.cc
View File

@ -16,15 +16,15 @@
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
*/ */
#include "Galileo_OSNMA.h"
#include "gnss_crypto.h"
#include "osnma_helper.h"
#include "osnma_msg_receiver.h"
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <bitset> #include <bitset>
#include <chrono> #include <chrono>
#include <fstream> #include <fstream>
#include <vector> #include <vector>
#include "Galileo_OSNMA.h"
#include "gnss_crypto.h"
#include "osnma_helper.h"
#include "osnma_msg_receiver.h"
#if USE_GLOG_AND_GFLAGS #if USE_GLOG_AND_GFLAGS
#include <glog/logging.h> // for LOG #include <glog/logging.h> // for LOG

9
src/tests/unit-tests/signal-processing-blocks/osnma/osnma_test_vectors.cc
View File

@ -182,7 +182,8 @@ TEST_F(OsnmaTestVectors, PublicKeyRevocation)
ASSERT_EQ(osnma->d_count_failed_macseq, 0); ASSERT_EQ(osnma->d_count_failed_macseq, 0);
} }
TEST_F(OsnmaTestVectors, AlertMessage){ TEST_F(OsnmaTestVectors, AlertMessage)
{
// Arrange // Arrange
std::string crtFilePath = std::string(BASE_OSNMA_TEST_VECTORS) + "cryptographic_material/Merkle_tree_3/PublicKey/OSNMA_PublicKey_20231007201500_PKID_1.crt"; std::string crtFilePath = std::string(BASE_OSNMA_TEST_VECTORS) + "cryptographic_material/Merkle_tree_3/PublicKey/OSNMA_PublicKey_20231007201500_PKID_1.crt";
std::string merkleFilePath = std::string(BASE_OSNMA_TEST_VECTORS) + "cryptographic_material/Merkle_tree_3/MerkleTree/OSNMA_MerkleTree_20231007201500_PKID_1.xml"; std::string merkleFilePath = std::string(BASE_OSNMA_TEST_VECTORS) + "cryptographic_material/Merkle_tree_3/MerkleTree/OSNMA_MerkleTree_20231007201500_PKID_1.xml";
@ -219,7 +220,8 @@ TEST_F(OsnmaTestVectors, AlertMessage){
// Auxiliary functions for the OsnmaTestVectorsSimulation test fixture. // Auxiliary functions for the OsnmaTestVectorsSimulation test fixture.
// Essentially, they perform same work as the telemetry decoder block, but adapted to the osnma-test-vector files. // Essentially, they perform same work as the telemetry decoder block, but adapted to the osnma-test-vector files.
bool OsnmaTestVectors::feedOsnmaWithTestVectors(osnma_msg_receiver_sptr osnma_object, std::vector<std::vector<TestVector>> testVectors, std::vector<std::tm> startTimesFiles){ bool OsnmaTestVectors::feedOsnmaWithTestVectors(osnma_msg_receiver_sptr osnma_object, std::vector<std::vector<TestVector>> testVectors, std::vector<std::tm> startTimesFiles)
{
bool end_of_hex_stream; bool end_of_hex_stream;
int offset_byte{0}; int offset_byte{0};
int byte_index{0}; // index containing the last byte position of the hex stream that was retrieved. Takes advantage that all TVs have same size int byte_index{0}; // index containing the last byte position of the hex stream that was retrieved. Takes advantage that all TVs have same size
@ -241,7 +243,8 @@ bool OsnmaTestVectors::feedOsnmaWithTestVectors(osnma_msg_receiver_sptr osnma_ob
<< ", TOW=" << TOW << ", TOW=" << TOW
<< ", WN=" << WN << std::endl; << ", WN=" << WN << std::endl;
if (test_step == 1 && d_flag_NPK == true ){ if (test_step == 1 && d_flag_NPK == true)
{
// step 2: this simulates the osnma connecting to the GSC server and downloading the Merkle tree of the next public key // step 2: this simulates the osnma connecting to the GSC server and downloading the Merkle tree of the next public key
osnma_object->read_merkle_xml( osnma_object->read_merkle_xml(
std::string(BASE_OSNMA_TEST_VECTORS) + "cryptographic_material/Merkle_tree_2/MerkleTree/OSNMA_MerkleTree_20231007081500_PKID_8.xml"); std::string(BASE_OSNMA_TEST_VECTORS) + "cryptographic_material/Merkle_tree_2/MerkleTree/OSNMA_MerkleTree_20231007081500_PKID_8.xml");