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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Damian Miralles 2018-09-07 20:00:19 -06:00
commit 5c3753a0a5
68 changed files with 1047 additions and 448 deletions
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3
CMakeLists.txt
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@ -76,6 +76,7 @@ endif(ENABLE_PACKAGING)
# Testing # Testing
option(ENABLE_UNIT_TESTING "Build unit tests" ON) option(ENABLE_UNIT_TESTING "Build unit tests" ON)
option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF)
option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF) option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
option(ENABLE_SYSTEM_TESTING "Build system tests" OFF) option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF) option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
@ -341,7 +342,7 @@ set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1") set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5") set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable") set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.0") set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master") set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10") set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12") set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")

12
README.md
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@ -229,20 +229,20 @@ $ sudo ldconfig
#### Build the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test: #### Build the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test:
~~~~~~ ~~~~~~
$ wget https://github.com/google/googletest/archive/release-1.8.0.zip $ wget https://github.com/google/googletest/archive/release-1.8.1.zip
$ unzip release-1.8.0.zip $ unzip release-1.8.1.zip
$ cd googletest-release-1.8.0 $ cd googletest-release-1.8.1
$ cmake -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF . $ cmake -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF .
$ make $ make
~~~~~~ ~~~~~~
Please **DO NOT install** Google Test (do *not* type ```sudo make install```). Every user needs to compile his tests using the same compiler flags used to compile the installed Google Test libraries; otherwise he may run into undefined behaviors (i.e. the tests can behave strangely and may even crash for no obvious reasons). The reason is that C++ has this thing called the One-Definition Rule: if two C++ source files contain different definitions of the same class/function/variable, and you link them together, you violate the rule. The linker may or may not catch the error (in many cases it is not required by the C++ standard to catch the violation). If it does not, you get strange run-time behaviors that are unexpected and hard to debug. If you compile Google Test and your test code using different compiler flags, they may see different definitions of the same class/function/variable (e.g. due to the use of ```#if``` in Google Test). Therefore, for your sanity, we recommend to avoid installing pre-compiled Google Test libraries. Instead, each project should compile Google Test itself such that it can be sure that the same flags are used for both Google Test and the tests. The building system of GNSS-SDR does the compilation and linking of googletest to its own tests; it is only required that you tell the system where the googletest folder that you downloaded resides. Just add to your ```$HOME/.bashrc``` file the following line: Please **DO NOT install** Google Test (do *not* type ```sudo make install```). Every user needs to compile his tests using the same compiler flags used to compile the installed Google Test libraries; otherwise he may run into undefined behaviors (i.e. the tests can behave strangely and may even crash for no obvious reasons). The reason is that C++ has this thing called the One-Definition Rule: if two C++ source files contain different definitions of the same class/function/variable, and you link them together, you violate the rule. The linker may or may not catch the error (in many cases it is not required by the C++ standard to catch the violation). If it does not, you get strange run-time behaviors that are unexpected and hard to debug. If you compile Google Test and your test code using different compiler flags, they may see different definitions of the same class/function/variable (e.g. due to the use of ```#if``` in Google Test). Therefore, for your sanity, we recommend to avoid installing pre-compiled Google Test libraries. Instead, each project should compile Google Test itself such that it can be sure that the same flags are used for both Google Test and the tests. The building system of GNSS-SDR does the compilation and linking of googletest to its own tests; it is only required that you tell the system where the googletest folder that you downloaded resides. Just add to your ```$HOME/.bashrc``` file the following line:
~~~~~~ ~~~~~~
export GTEST_DIR=/home/username/googletest-release-1.8.0/googletest export GTEST_DIR=/home/username/googletest-release-1.8.1/googletest
~~~~~~ ~~~~~~
changing `/home/username/googletest-release-1.8.0/googletest` by the actual directory where you built googletest. changing `/home/username/googletest-release-1.8.1/googletest` by the actual directory where you built googletest.

10
cmake/Modules/FindGFORTRAN.cmake
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@ -135,6 +135,14 @@
/usr/lib/sparc64-linux-gnu /usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32 /usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu /usr/lib/alpha-linux-gnu
/usr/lib/gcc/x86_64-linux-gnu/8 # libgfortran8
/usr/lib/gcc/aarch64-linux-gnu/8
/usr/lib/gcc/arm-linux-gnueabihf/8
/usr/lib/gcc/i686-linux-gnu/8
/usr/lib/gcc/powerpc64le-linux-gnu/8
/usr/lib/gcc/s390x-linux-gnu/8
/usr/lib/gcc/alpha-linux-gnu/8
) )
INCLUDE(FindPackageHandleStandardArgs) INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN) FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN)

29
src/algorithms/PVT/libs/pvt_solution.cc
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@ -73,16 +73,9 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
omegatau = OMEGA_EARTH_DOT * traveltime; omegatau = OMEGA_EARTH_DOT * traveltime;
//--- Build a rotation matrix ---------------------------------------------- //--- Build a rotation matrix ----------------------------------------------
arma::mat R3 = arma::zeros(3, 3); arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
R3(0, 0) = cos(omegatau); {-sin(omegatau), cos(omegatau), 0.0},
R3(0, 1) = sin(omegatau); {0.0, 0.0, 1.0}};
R3(0, 2) = 0.0;
R3(1, 0) = -sin(omegatau);
R3(1, 1) = cos(omegatau);
R3(1, 2) = 0.0;
R3(2, 0) = 0.0;
R3(2, 1) = 0.0;
R3(2, 2) = 1;
//--- Do the rotation ------------------------------------------------------ //--- Do the rotation ------------------------------------------------------
arma::vec X_sat_rot; arma::vec X_sat_rot;
@ -394,19 +387,9 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x
double cb = cos(phi * dtr); double cb = cos(phi * dtr);
double sb = sin(phi * dtr); double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3, 3); arma::mat F = {{-sl, -sb * cl, cb * cl},
{cl, -sb * sl, cb * sl},
F(0, 0) = -sl; {0, 0, cb, sb}};
F(0, 1) = -sb * cl;
F(0, 2) = cb * cl;
F(1, 0) = cl;
F(1, 1) = -sb * sl;
F(1, 2) = cb * sl;
F(2, 0) = 0;
F(2, 1) = cb;
F(2, 2) = sb;
arma::vec local_vector; arma::vec local_vector;

41
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -571,10 +571,32 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double) // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.rr[0]), sizeof(pvt_sol.rr)); tmp_double = pvt_sol.rr[0];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[1];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[2];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[3];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[4];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.rr[5];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double) // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.qr[0]), sizeof(pvt_sol.qr)); tmp_double = pvt_sol.qr[0];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[1];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[2];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[3];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[4];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = pvt_sol.qr[5];
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// GEO user position Latitude [deg] // GEO user position Latitude [deg]
tmp_double = get_latitude(); tmp_double = get_latitude();
@ -592,15 +614,16 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t)); d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline) // RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t)); d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
//AR ratio factor for validation // AR ratio factor for validation
tmp_double = pvt_sol.ratio;
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float)); d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
//AR ratio threshold for validation // AR ratio threshold for validation
tmp_double = pvt_sol.thres;
d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float)); d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
//GDOP//PDOP//HDOP//VDOP // GDOP / PDOP/ HDOP/ VDOP
d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(dop_)); d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&dop_[1]), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&dop_[2]), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&dop_[3]), sizeof(double));
} }
catch (const std::ifstream::failure& e) catch (const std::ifstream::failure& e)
{ {

4
src/algorithms/input_filter/adapters/CMakeLists.txt
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@ -37,6 +37,10 @@ include_directories(
${VOLK_INCLUDE_DIRS} ${VOLK_INCLUDE_DIRS}
) )
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h") file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h")
list(SORT INPUT_FILTER_ADAPTER_HEADERS) list(SORT INPUT_FILTER_ADAPTER_HEADERS)
add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS}) add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})

4
src/algorithms/input_filter/adapters/fir_filter.h
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@ -43,8 +43,12 @@
#include <gnuradio/blocks/float_to_char.h> #include <gnuradio/blocks/float_to_char.h>
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/float_to_short.h> #include <gnuradio/blocks/float_to_short.h>
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h> #include <gnuradio/filter/fir_filter_ccf.h>
#include <gnuradio/filter/fir_filter_fff.h> #include <gnuradio/filter/fir_filter_fff.h>
#endif
#include <cmath> #include <cmath>
#include <string> #include <string>
#include <vector> #include <vector>

4
src/algorithms/input_filter/adapters/freq_xlating_fir_filter.h
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@ -36,9 +36,13 @@
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "short_x2_to_cshort.h" #include "short_x2_to_cshort.h"
#include "complex_float_to_complex_byte.h" #include "complex_float_to_complex_byte.h"
#ifdef GR_GREATER_38
#include <gnuradio/filter/freq_xlating_fir_filter.h>
#else
#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h> #include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
#include <gnuradio/filter/freq_xlating_fir_filter_fcf.h> #include <gnuradio/filter/freq_xlating_fir_filter_fcf.h>
#include <gnuradio/filter/freq_xlating_fir_filter_scf.h> #include <gnuradio/filter/freq_xlating_fir_filter_scf.h>
#endif
#include <gnuradio/blocks/file_sink.h> #include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/complex_to_float.h> #include <gnuradio/blocks/complex_to_float.h>
#include <gnuradio/blocks/char_to_short.h> #include <gnuradio/blocks/char_to_short.h>

4
src/algorithms/input_filter/adapters/pulse_blanking_filter.h
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@ -35,7 +35,11 @@
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "pulse_blanking_cc.h" #include "pulse_blanking_cc.h"
#include <gnuradio/blocks/file_sink.h> #include <gnuradio/blocks/file_sink.h>
#ifdef GR_GREATER_38
#include <gnuradio/filter/freq_xlating_fir_filter.h>
#else
#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h> #include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
#endif
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;

2
src/algorithms/libs/galileo_e1_signal_processing.cc
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@ -108,7 +108,7 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn) void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
{ {
std::string _galileo_signal = _Signal; std::string _galileo_signal = _Signal;
const uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS); const uint32_t _codeLength = static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
for (uint32_t i = 0; i < _codeLength; i++) for (uint32_t i = 0; i < _codeLength; i++)

4
src/algorithms/resampler/adapters/CMakeLists.txt
View File

@ -32,9 +32,9 @@ include_directories(
) )
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 ) add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h") file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h")

38
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
View File

@ -87,7 +87,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS); d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL; d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL;
@ -98,12 +98,13 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble; d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * 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_secondary_code_samples = nullptr;
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS; d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS; CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm; DataLength = (CodeLength / nn) - mm;
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS); d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL; d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
@ -114,7 +115,6 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble; d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * 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_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS; d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS; CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
@ -133,6 +133,17 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
break; break;
} }
default: default:
d_bits_per_preamble = 0;
d_samples_per_preamble = 0;
d_preamble_period_symbols = 0;
d_preamble_samples = nullptr;
d_secondary_code_samples = nullptr;
d_samples_per_symbol = 0U;
d_PRN_code_period_ms = 0U;
d_required_symbols = 0U;
d_frame_length_symbols = 0.0;
CodeLength = 0;
DataLength = 0;
std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl; std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
} }
@ -142,7 +153,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (GALILEO_INAV_PREAMBLE.at(i) == '1') if (GALILEO_INAV_PREAMBLE.at(i) == '1')
{ {
@ -162,7 +173,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
} }
break; break;
} }
case 2: //FNAV for E5a-I case 2: // FNAV for E5a-I
{ {
// Galileo E5a data channel (E5a-I) still has a secondary code // Galileo E5a data channel (E5a-I) still has a secondary code
int m = 0; int m = 0;
@ -412,6 +423,7 @@ void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_
} }
} }
void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{ {
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -525,7 +537,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
// call the decoder // call the decoder
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
// NEW Galileo page part is received // NEW Galileo page part is received
// 0. fetch the symbols into an array // 0. fetch the symbols into an array
if (corr_value > 0) //normal PLL lock if (corr_value > 0) //normal PLL lock
@ -544,7 +556,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
} }
decode_INAV_word(d_page_part_symbols, d_frame_length_symbols); decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);
break; break;
case 2: //FNAV case 2: // FNAV
// NEW Galileo page part is received // NEW Galileo page part is received
// 0. fetch the symbols into an array // 0. fetch the symbols into an array
if (corr_value > 0) //normal PLL lock if (corr_value > 0) //normal PLL lock
@ -620,7 +632,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (d_inav_nav.flag_TOW_set == true) if (d_inav_nav.flag_TOW_set == true)
{ {
@ -647,7 +659,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
} }
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
if (d_fnav_nav.flag_TOW_set == true) if (d_fnav_nav.flag_TOW_set == true)
{ {
@ -692,7 +704,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (d_inav_nav.flag_TOW_set == true) if (d_inav_nav.flag_TOW_set == true)
{ {
@ -700,7 +712,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
} }
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
if (d_fnav_nav.flag_TOW_set == true) if (d_fnav_nav.flag_TOW_set == true)
{ {
@ -720,7 +732,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (d_inav_nav.flag_TOW_set) if (d_inav_nav.flag_TOW_set)
{ {
@ -734,7 +746,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
if (d_fnav_nav.flag_TOW_set) if (d_fnav_nav.flag_TOW_set)
{ {

5
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
View File

@ -29,8 +29,8 @@
*/ */
#ifndef GNSS_SDR_galileo_telemetry_decoder_cc_H #ifndef GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_galileo_telemetry_decoder_cc_H #define GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
#include "Galileo_E1.h" #include "Galileo_E1.h"
@ -56,7 +56,6 @@ galileo_telemetry_decoder_cc_sptr galileo_make_telemetry_decoder_cc(const Gnss_S
/*! /*!
* \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD * \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD
*
*/ */
class galileo_telemetry_decoder_cc : public gr::block class galileo_telemetry_decoder_cc : public gr::block
{ {

4
src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.h
View File

@ -1,6 +1,6 @@
/*! /*!
* \file GPS_L1_CA_KF_Tracking.h * \file gps_l1_ca_kf_tracking.h
* \brief Interface of an adapter of a DLL + Kalman carrier * \brief Interface of an adapter of a DLL + Kalman carrier
* tracking loop block for GPS L1 C/A signals * tracking loop block for GPS L1 C/A signals
* \author Javier Arribas, 2018. jarribas(at)cttc.es * \author Javier Arribas, 2018. jarribas(at)cttc.es
* \author Jordi Vila-Valls 2018. jvila(at)cttc.es * \author Jordi Vila-Valls 2018. jvila(at)cttc.es

4
src/core/receiver/CMakeLists.txt
View File

@ -98,9 +98,9 @@ if(ENABLE_AD9361)
set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif(ENABLE_AD9361) endif(ENABLE_AD9361)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 ) add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
include_directories( include_directories(

14
src/tests/CMakeLists.txt
View File

@ -55,7 +55,7 @@ if(NOT ${GTEST_DIR_LOCAL})
GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION} GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION} BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG} CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
UPDATE_COMMAND "" UPDATE_COMMAND ""
PATCH_COMMAND "" PATCH_COMMAND ""
INSTALL_COMMAND "" INSTALL_COMMAND ""
@ -67,7 +67,7 @@ if(NOT ${GTEST_DIR_LOCAL})
GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION} GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION} BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG} CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
UPDATE_COMMAND "" UPDATE_COMMAND ""
PATCH_COMMAND "" PATCH_COMMAND ""
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX} BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
@ -136,6 +136,10 @@ if(Boost_VERSION LESS 105000)
add_definitions(-DOLD_BOOST=1) add_definitions(-DOLD_BOOST=1)
endif(Boost_VERSION LESS 105000) endif(Boost_VERSION LESS 105000)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
if(OPENSSL_FOUND) if(OPENSSL_FOUND)
add_definitions( -DUSE_OPENSSL_FALLBACK=1 ) add_definitions( -DUSE_OPENSSL_FALLBACK=1 )
endif(OPENSSL_FOUND) endif(OPENSSL_FOUND)
@ -164,9 +168,13 @@ if(GNUPLOT_FOUND)
endif(GNUPLOT_FOUND) endif(GNUPLOT_FOUND)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
add_definitions( -DGR_GREATER_38=1 ) add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
if(ENABLE_UNIT_TESTING_MINIMAL)
add_definitions(-DUNIT_TESTING_MINIMAL=1)
endif(ENABLE_UNIT_TESTING_MINIMAL)
################################################################################ ################################################################################
# Optional generator # Optional generator

5
src/tests/system-tests/libs/CMakeLists.txt
View File

@ -28,6 +28,7 @@ include_directories(
${GLOG_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS} ${MATIO_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
) )
@ -37,5 +38,7 @@ add_library(system_testing_lib ${SYSTEM_TESTING_LIB_SOURCES} ${SYSTEM_TESTING_LI
source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS}) source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS})
if(NOT MATIO_FOUND) if(NOT MATIO_FOUND)
add_dependencies(system_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION}) add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
else(NOT MATIO_FOUND)
add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE})
endif(NOT MATIO_FOUND) endif(NOT MATIO_FOUND)

177
src/tests/system-tests/libs/geofunctions.cc
View File

@ -1,5 +1,5 @@
/*! /*!
* \file geofunctions.h * \file geofunctions.cc
* \brief A set of coordinate transformations functions and helpers, * \brief A set of coordinate transformations functions and helpers,
* some of them migrated from MATLAB, for geographic information systems. * some of them migrated from MATLAB, for geographic information systems.
* \author Javier Arribas, 2018. jarribas(at)cttc.es * \author Javier Arribas, 2018. jarribas(at)cttc.es
@ -30,10 +30,10 @@
*/ */
#include "geofunctions.h" #include "geofunctions.h"
#define STRP_G_SI 9.80665 const double STRP_G_SI = 9.80665;
#define STRP_PI 3.1415926535898 //!< Pi as defined in IS-GPS-200E const double STRP_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
arma::mat Skew_symmetric(arma::vec a) arma::mat Skew_symmetric(const arma::vec &a)
{ {
arma::mat A = arma::zeros(3, 3); arma::mat A = arma::zeros(3, 3);
@ -41,54 +41,52 @@ arma::mat Skew_symmetric(arma::vec a)
<< a(2) << 0.0 << -a(0) << arma::endr << a(2) << 0.0 << -a(0) << arma::endr
<< -a(1) << a(0) << 0 << arma::endr; << -a(1) << a(0) << 0 << arma::endr;
// {{0, -a(2), a(1)}, // {{0, -a(2), a(1)},
// {a(2), 0, -a(0)}, // {a(2), 0, -a(0)},
// {-a(1), a(0), 0}}; // {-a(1), a(0), 0}};
return A; return A;
} }
double WGS84_g0(double Lat_rad) double WGS84_g0(double Lat_rad)
{ {
double k = 0.001931853; //normal gravity constant const double k = 0.001931853; // normal gravity constant
double e2 = 0.00669438002290; //the square of the first numerical eccentricity const double e2 = 0.00669438002290; // the square of the first numerical eccentricity
double nge = 9.7803253359; //normal gravity value on the equator (m/sec^2) const double nge = 9.7803253359; // normal gravity value on the equator (m/sec^2)
double b = sin(Lat_rad); //Lat in degrees double b = sin(Lat_rad); // Lat in degrees
b = b * b; b = b * b;
double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b)); double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b));
return g0; return g0;
} }
double WGS84_geocentric_radius(double Lat_geodetic_rad) double WGS84_geocentric_radius(double Lat_geodetic_rad)
{ {
//WGS84 earth model Geocentric radius (Eq. 2.88) // WGS84 earth model Geocentric radius (Eq. 2.88)
const double WGS84_A = 6378137.0; // Semi-major axis of the Earth, a [m]
const double WGS84_IF = 298.257223563; // Inverse flattening of the Earth
const double WGS84_F = (1.0 / WGS84_IF); // The flattening of the Earth
// double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); // Eccentricity of the Earth
double WGS84_A = 6378137.0; //Semi-major axis of the Earth, a [m] // transverse radius of curvature
double WGS84_IF = 298.257223563; //Inverse flattening of the Earth double R_E = WGS84_A / sqrt(1 - WGS84_E * WGS84_E * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.66)
double WGS84_F = (1 / WGS84_IF); //The flattening of the Earth
//double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); //Eccentricity of the Earth
//transverse radius of curvature // geocentric radius at the Earth surface
double R_E = WGS84_A / sqrt(1 -
WGS84_E * WGS84_E *
sin(Lat_geodetic_rad) *
sin(Lat_geodetic_rad)); // (Eq. 2.66)
//gocentric radius at the Earth surface
double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) + double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
(1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88) (1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88)
return r_eS; return r_eS;
} }
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx) int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{ {
double lambda; double lambda;
double phi; double phi;
double h; double h;
double dtr = STRP_PI / 180.0; const double dtr = STRP_PI / 180.0;
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84 const double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84 const double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
// Transform x into geodetic coordinates // Transform x into geodetic coordinates
togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2)); togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
@ -98,19 +96,9 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
double cb = cos(phi * dtr); double cb = cos(phi * dtr);
double sb = sin(phi * dtr); double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3, 3); arma::mat F = {{-sl, -sb * cl, cb * cl},
{cl, -sb * sl, cb * sl},
F(0, 0) = -sl; {0.0, cb, sb}};
F(0, 1) = -sb * cl;
F(0, 2) = cb * cl;
F(1, 0) = cl;
F(1, 1) = -sb * sl;
F(1, 2) = cb * sl;
F(2, 0) = 0;
F(2, 1) = cb;
F(2, 2) = sb;
arma::vec local_vector; arma::vec local_vector;
@ -125,8 +113,8 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
if (hor_dis < 1.0E-20) if (hor_dis < 1.0E-20)
{ {
*Az = 0; *Az = 0.0;
*El = 90; *El = 90.0;
} }
else else
{ {
@ -146,10 +134,10 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z) int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
{ {
*h = 0; *h = 0.0;
double tolsq = 1.e-10; // tolerance to accept convergence const double tolsq = 1.e-10; // tolerance to accept convergence
int maxit = 10; // max number of iterations const int maxit = 10; // max number of iterations
double rtd = 180.0 / STRP_PI; const double rtd = 180.0 / STRP_PI;
// compute square of eccentricity // compute square of eccentricity
double esq; double esq;
@ -165,7 +153,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
// first guess // first guess
double P = sqrt(X * X + Y * Y); // P is distance from spin axis double P = sqrt(X * X + Y * Y); // P is distance from spin axis
//direct calculation of longitude // direct calculation of longitude
if (P > 1.0E-20) if (P > 1.0E-20)
{ {
*dlambda = atan2(Y, X) * rtd; *dlambda = atan2(Y, X) * rtd;
@ -198,7 +186,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
// approximate distance from origin to surface of ellipsoid // approximate distance from origin to surface of ellipsoid
if (r < 1.0E-20) if (r < 1.0E-20)
{ {
*h = 0; *h = 0.0;
return 1; return 1;
} }
@ -241,27 +229,28 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
return 0; return 0;
} }
arma::mat Gravity_ECEF(arma::vec r_eb_e)
arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
{ {
//Parameters // Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters const double R_0 = 6378137; // WGS84 Equatorial radius in meters
double mu = 3.986004418E14; //WGS84 Earth gravitational constant (m^3 s^-2) const double mu = 3.986004418E14; // WGS84 Earth gravitational constant (m^3 s^-2)
double J_2 = 1.082627E-3; //WGS84 Earth's second gravitational constant const double J_2 = 1.082627E-3; // WGS84 Earth's second gravitational constant
double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s) const double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
// Calculate distance from center of the Earth // Calculate distance from center of the Earth
double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e)); double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e));
// If the input position is 0,0,0, produce a dummy output // If the input position is 0,0,0, produce a dummy output
arma::vec g = arma::zeros(3, 1); arma::vec g = arma::zeros(3, 1);
if (mag_r != 0) if (mag_r != 0)
{ {
//Calculate gravitational acceleration using (2.142) // Calculate gravitational acceleration using (2.142)
double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2); double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2);
arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0), arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0),
(1 - z_scale) * r_eb_e(1), (1 - z_scale) * r_eb_e(1),
(3 - z_scale) * r_eb_e(2)}; (3 - z_scale) * r_eb_e(2)};
arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec); arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec);
//Add centripetal acceleration using (2.133) // Add centripetal acceleration using (2.133)
g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0); g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0);
g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1); g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1);
g(2) = gamma_(2); g(2) = gamma_(2);
@ -269,20 +258,23 @@ arma::mat Gravity_ECEF(arma::vec r_eb_e)
return g; return g;
} }
arma::vec LLH_to_deg(arma::vec LLH)
arma::vec LLH_to_deg(arma::vec &LLH)
{ {
double rtd = 180.0 / STRP_PI; const double rtd = 180.0 / STRP_PI;
LLH(0) = LLH(0) * rtd; LLH(0) = LLH(0) * rtd;
LLH(1) = LLH(1) * rtd; LLH(1) = LLH(1) * rtd;
return LLH; return LLH;
} }
double degtorad(double angleInDegrees) double degtorad(double angleInDegrees)
{ {
double angleInRadians = (STRP_PI / 180.0) * angleInDegrees; double angleInRadians = (STRP_PI / 180.0) * angleInDegrees;
return angleInRadians; return angleInRadians;
} }
double radtodeg(double angleInRadians) double radtodeg(double angleInRadians)
{ {
double angleInDegrees = (180.0 / STRP_PI) * angleInRadians; double angleInDegrees = (180.0 / STRP_PI) * angleInRadians;
@ -296,15 +288,17 @@ double mstoknotsh(double MetersPerSeconds)
return knots; return knots;
} }
double mstokph(double MetersPerSeconds) double mstokph(double MetersPerSeconds)
{ {
double kph = 3600.0 * MetersPerSeconds / 1e3; double kph = 3600.0 * MetersPerSeconds / 1e3;
return kph; return kph;
} }
arma::vec CTM_to_Euler(arma::mat C)
arma::vec CTM_to_Euler(arma::mat &C)
{ {
//Calculate Euler angles using (2.23) // Calculate Euler angles using (2.23)
arma::vec eul = arma::zeros(3, 1); arma::vec eul = arma::zeros(3, 1);
eul(0) = atan2(C(1, 2), C(2, 2)); // roll eul(0) = atan2(C(1, 2), C(2, 2)); // roll
if (C(0, 2) < -1.0) C(0, 2) = -1.0; if (C(0, 2) < -1.0) C(0, 2) = -1.0;
@ -314,18 +308,19 @@ arma::vec CTM_to_Euler(arma::mat C)
return eul; return eul;
} }
arma::mat Euler_to_CTM(arma::vec eul)
arma::mat Euler_to_CTM(const arma::vec &eul)
{ {
//Eq.2.15 // Eq.2.15
//Euler angles to Attitude matrix is equivalent to rotate the body // Euler angles to Attitude matrix is equivalent to rotate the body
//in the three axes: // in the three axes:
// arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}}; // arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}};
// arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}}; // arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}};
// arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}}; // arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}};
// arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED) // arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED)
// C_b_n=C_b_n.t(); // C_b_n=C_b_n.t();
//Precalculate sines and cosines of the Euler angles // Precalculate sines and cosines of the Euler angles
double sin_phi = sin(eul(0)); double sin_phi = sin(eul(0));
double cos_phi = cos(eul(0)); double cos_phi = cos(eul(0));
double sin_theta = sin(eul(1)); double sin_theta = sin(eul(1));
@ -333,21 +328,15 @@ arma::mat Euler_to_CTM(arma::vec eul)
double sin_psi = sin(eul(2)); double sin_psi = sin(eul(2));
double cos_psi = cos(eul(2)); double cos_psi = cos(eul(2));
arma::mat C = arma::zeros(3, 3); // Calculate coordinate transformation matrix using (2.22)
//Calculate coordinate transformation matrix using (2.22) arma::mat C = {{cos_theta * cos_psi, cos_theta * sin_psi, -sin_theta},
C(0, 0) = cos_theta * cos_psi; {-cos_phi * sin_psi + sin_phi * sin_theta * cos_psi, cos_phi * cos_psi + sin_phi * sin_theta * sin_psi, sin_phi * cos_theta},
C(0, 1) = cos_theta * sin_psi; {sin_phi * sin_psi + cos_phi * sin_theta * cos_psi, -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi, cos_phi * cos_theta}};
C(0, 2) = -sin_theta;
C(1, 0) = -cos_phi * sin_psi + sin_phi * sin_theta * cos_psi;
C(1, 1) = cos_phi * cos_psi + sin_phi * sin_theta * sin_psi;
C(1, 2) = sin_phi * cos_theta;
C(2, 0) = sin_phi * sin_psi + cos_phi * sin_theta * cos_psi;
C(2, 1) = -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi;
C(2, 2) = cos_phi * cos_theta;
return C; return C;
} }
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
{ {
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0}; const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563}; const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
@ -380,37 +369,37 @@ arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
return LLH; return LLH;
} }
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
{ {
//Compute the Latitude of the ECEF position // Compute the Latitude of the ECEF position
LLH = cart2geo(r_eb_e, 4); //ECEF -> WGS84 geographical LLH = cart2geo(r_eb_e, 4); // ECEF -> WGS84 geographical
// Calculate ECEF to Geographical coordinate transformation matrix using (2.150) // Calculate ECEF to Geographical coordinate transformation matrix using (2.150)
double cos_lat = cos(LLH(0)); double cos_lat = cos(LLH(0));
double sin_lat = sin(LLH(0)); double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1)); double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1)); double sin_long = sin(LLH(1));
//C++11 and arma >= 5.2 // C++11 and arma >= 5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat}, // arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0}, // {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo // {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo
//C++98 arma <5.2
arma::mat C_e_n = arma::zeros(3, 3); arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr << -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; //ECEF to Geo << -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; // ECEF to Geo
// Transform velocity using (2.73) // Transform velocity using (2.73)
v_eb_n = C_e_n * v_eb_e; v_eb_n = C_e_n * v_eb_e;
C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED
} }
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
{ {
// Parameters // Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters double R_0 = 6378137; // WGS84 Equatorial radius in meters
double e = 0.0818191908425; //WGS84 eccentricity double e = 0.0818191908425; // WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105) // Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0)))); double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
@ -424,13 +413,11 @@ void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_
(R_E + LLH(2)) * cos_lat * sin_long, (R_E + LLH(2)) * cos_lat * sin_long,
((1 - e * e) * R_E + LLH(2)) * sin_lat}; ((1 - e * e) * R_E + LLH(2)) * sin_lat};
//Calculate ECEF to Geo coordinate transformation matrix using (2.150) // Calculate ECEF to Geo coordinate transformation matrix using (2.150)
//C++11 and arma>=5.2 // C++11 and arma>=5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat}, // arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0}, // {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; // {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
//C++98 arma <5.2
//Calculate ECEF to Geo coordinate transformation matrix using (2.150)
arma::mat C_e_n = arma::zeros(3, 3); arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr << -sin_long << cos_long << 0 << arma::endr
@ -444,11 +431,11 @@ void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_
} }
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e) void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
{ {
//% Parameters // Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters const double R_0 = 6378137; // WGS84 Equatorial radius in meters
double e = 0.0818191908425; //WGS84 eccentricity const double e = 0.0818191908425; // WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105) // Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2)); double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2));

182
src/tests/system-tests/libs/geofunctions.h
View File

@ -29,72 +29,72 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GEOFUNCTIONS_H #ifndef GNSS_SDR_GEOFUNCTIONS_H
#define GEOFUNCTIONS_H #define GNSS_SDR_GEOFUNCTIONS_H
#include <armadillo> #include <armadillo>
// %Skew_symmetric - Calculates skew-symmetric matrix
arma::mat Skew_symmetric(arma::vec a); arma::mat Skew_symmetric(const arma::vec &a); //!< Calculates skew-symmetric matrix
double WGS84_g0(double Lat_rad); double WGS84_g0(double Lat_rad);
double WGS84_geocentric_radius(double Lat_geodetic_rad); double WGS84_geocentric_radius(double Lat_geodetic_rad);
/* Transformation of vector dx into topocentric coordinate /*!
system with origin at x * \brief Transformation of vector dx into topocentric coordinate
Inputs: * system with origin at x
x - vector origin coordinates (in ECEF system [X; Y; Z;]) * Inputs:
dx - vector ([dX; dY; dZ;]). * x - vector origin coordinates (in ECEF system [X; Y; Z;])
* dx - vector ([dX; dY; dZ;]).
Outputs: *
D - vector length. Units like the input * Outputs:
Az - azimuth from north positive clockwise, degrees * D - vector length. Units like the input
El - elevation angle, degrees * Az - azimuth from north positive clockwise, degrees
* El - elevation angle, degrees
Based on a Matlab function by Kai Borre *
* Based on a Matlab function by Kai Borre
*/ */
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx); int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/* Subroutine to calculate geodetic coordinates latitude, longitude, /*!
height given Cartesian coordinates X,Y,Z, and reference ellipsoid * \brief Subroutine to calculate geodetic coordinates latitude, longitude,
values semi-major axis (a) and the inverse of flattening (finv). * height given Cartesian coordinates X,Y,Z, and reference ellipsoid
* values semi-major axis (a) and the inverse of flattening (finv).
The output units of angular quantities will be in decimal degrees *
(15.5 degrees not 15 deg 30 min). The output units of h will be the * The output units of angular quantities will be in decimal degrees
same as the units of X,Y,Z,a. * (15.5 degrees not 15 deg 30 min). The output units of h will be the
* same as the units of X,Y,Z,a.
Inputs: *
a - semi-major axis of the reference ellipsoid * Inputs:
finv - inverse of flattening of the reference ellipsoid * a - semi-major axis of the reference ellipsoid
X,Y,Z - Cartesian coordinates * finv - inverse of flattening of the reference ellipsoid
* X,Y,Z - Cartesian coordinates
Outputs: *
dphi - latitude * Outputs:
dlambda - longitude * dphi - latitude
h - height above reference ellipsoid * dlambda - longitude
* h - height above reference ellipsoid
Based in a Matlab function by Kai Borre *
* Based in a Matlab function by Kai Borre
*/ */
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z); int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
arma::mat Gravity_ECEF(const arma::vec &r_eb_e); //!< Calculates acceleration due to gravity resolved about ECEF-frame
//Gravitation_ECI - Calculates acceleration due to gravity resolved about /*!
//ECEF-frame * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
arma::mat Gravity_ECEF(arma::vec r_eb_e); * coordinates (latitude, longitude, h) on a selected reference ellipsoid.
*
/* Conversion of Cartesian coordinates (X,Y,Z) to geographical * Choices of Reference Ellipsoid for Geographical Coordinates
coordinates (latitude, longitude, h) on a selected reference ellipsoid. * 0. International Ellipsoid 1924
* 1. International Ellipsoid 1967
Choices of Reference Ellipsoid for Geographical Coordinates * 2. World Geodetic System 1972
0. International Ellipsoid 1924 * 3. Geodetic Reference System 1980
1. International Ellipsoid 1967 * 4. World Geodetic System 1984
2. World Geodetic System 1972
3. Geodetic Reference System 1980
4. World Geodetic System 1984
*/ */
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection); arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
arma::vec LLH_to_deg(arma::vec LLH); arma::vec LLH_to_deg(arma::vec &LLH);
double degtorad(double angleInDegrees); double degtorad(double angleInDegrees);
@ -104,53 +104,51 @@ double mstoknotsh(double MetersPerSeconds);
double mstokph(double Kph); double mstokph(double Kph);
arma::vec CTM_to_Euler(arma::mat &C);
arma::vec CTM_to_Euler(arma::mat C); arma::mat Euler_to_CTM(const arma::vec &eul);
arma::mat Euler_to_CTM(arma::vec eul); void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
// % /*!
// % Inputs: * \brief From Geographic to ECEF coordinates
// % L_b latitude (rad) *
// % lambda_b longitude (rad) * Inputs:
// % h_b height (m) * LLH latitude (rad), longitude (rad), height (m)
// % v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along * v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
// % north, east, and down (m/s) * north, east, and down (m/s)
// % C_b_n body-to-NED coordinate transformation matrix * C_b_n body-to-NED coordinate transformation matrix
// % *
// % Outputs: * Outputs:
// % r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved * r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
// % along ECEF-frame axes (m) * along ECEF-frame axes (m)
// % v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along * v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
// % ECEF-frame axes (m/s) * ECEF-frame axes (m/s)
// % C_b_e body-to-ECEF-frame coordinate transformation matrix * C_b_e body-to-ECEF-frame coordinate transformation matrix
// *
// % Copyright 2012, Paul Groves */
// % License: BSD; see license.txt for details void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
//pv_Geo_to_ECEF - Converts curvilinear to Cartesian position and velocity /*!
//resolving axes from NED to ECEF * \brief Converts curvilinear to Cartesian position and velocity
//This function created 11/4/2012 by Paul Groves * resolving axes from NED to ECEF
//% * This function created 11/4/2012 by Paul Groves
//% Inputs: *
//% L_b latitude (rad) * Inputs:
//% lambda_b longitude (rad) * L_b latitude (rad)
//% h_b height (m) * lambda_b longitude (rad)
//% v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along * h_b height (m)
//% north, east, and down (m/s) * v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
//% * north, east, and down (m/s)
//% Outputs: *
//% r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved * Outputs:
//% along ECEF-frame axes (m) * r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
//% v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along * along ECEF-frame axes (m)
//% ECEF-frame axes (m/s) * v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
* ECEF-frame axes (m/s)
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e); */
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
#endif #endif

99
src/tests/system-tests/libs/rtklib_solver_dump_reader.cc
View File

@ -29,54 +29,40 @@
*/ */
#include "rtklib_solver_dump_reader.h" #include "rtklib_solver_dump_reader.h"
#include <iostream> #include <iostream>
bool rtklib_solver_dump_reader::read_binary_obs() bool rtklib_solver_dump_reader::read_binary_obs()
{ {
try try
{ {
d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(TOW_at_current_symbol_ms)); d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(uint32_t));
// std::cout << "TOW_at_current_symbol_ms: " << TOW_at_current_symbol_ms << std::endl; d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(uint32_t));
d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(week)); d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(double));
// std::cout << "week: " << week << std::endl; d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(RX_time)); d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(double));
// std::cout << "RX_time: " << RX_time << std::endl; d_dump_file.read(reinterpret_cast<char *>(&rr[1]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(clk_offset_s)); d_dump_file.read(reinterpret_cast<char *>(&rr[2]), sizeof(double));
// std::cout << "clk_offset_s: " << clk_offset_s << std::endl; d_dump_file.read(reinterpret_cast<char *>(&rr[3]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(rr)); d_dump_file.read(reinterpret_cast<char *>(&rr[4]), sizeof(double));
// for (int n = 0; n < 6; n++) d_dump_file.read(reinterpret_cast<char *>(&rr[5]), sizeof(double));
// { d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(double));
// std::cout << "rr: " << rr[n] << std::endl; d_dump_file.read(reinterpret_cast<char *>(&qr[1]), sizeof(double));
// } d_dump_file.read(reinterpret_cast<char *>(&qr[2]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(qr)); d_dump_file.read(reinterpret_cast<char *>(&qr[3]), sizeof(double));
// for (int n = 0; n < 6; n++) d_dump_file.read(reinterpret_cast<char *>(&qr[4]), sizeof(double));
// { d_dump_file.read(reinterpret_cast<char *>(&qr[5]), sizeof(double));
// std::cout << "qr" << qr[n] << std::endl; d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(double));
// } d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(latitude)); d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(double));
std::cout << "latitude: " << latitude << std::endl; d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(uint8_t));
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(longitude)); d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(uint8_t));
std::cout << "longitude: " << longitude << std::endl; d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(uint8_t));
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(height)); d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(float));
std::cout << "height: " << height << std::endl; d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(ns)); d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(double));
// std::cout << "ns: " << (int)ns << std::endl; d_dump_file.read(reinterpret_cast<char *>(&dop[1]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(status)); d_dump_file.read(reinterpret_cast<char *>(&dop[2]), sizeof(double));
// std::cout << "status: " << (int)status << std::endl; d_dump_file.read(reinterpret_cast<char *>(&dop[3]), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(type));
// std::cout << "type: " << (int)type << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(AR_ratio));
// std::cout << "AR_ratio: " << AR_ratio << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(AR_thres));
// std::cout << "AR_thres: " << AR_thres << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(dop));
// for (int n = 0; n < 4; n++)
// {
// std::cout << "dop" << dop[n] << std::endl;
// }
// getchar();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
{ {
@ -103,22 +89,19 @@ bool rtklib_solver_dump_reader::restart()
int64_t rtklib_solver_dump_reader::num_epochs() int64_t rtklib_solver_dump_reader::num_epochs()
{ {
// std::ifstream::pos_type size; std::ifstream::pos_type size;
// int number_of_double_vars = 1; int epoch_size_bytes = 2 * sizeof(uint32_t) + 21 * sizeof(double) + 3 * sizeof(uint8_t) + 2 * sizeof(float);
// int number_of_float_vars = 17; std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
// int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars + if (tmpfile.is_open())
// sizeof(float) * number_of_float_vars + sizeof(unsigned int); {
// std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); size = tmpfile.tellg();
// if (tmpfile.is_open()) int64_t nepoch = size / epoch_size_bytes;
// { return nepoch;
// size = tmpfile.tellg(); }
// int64_t nepoch = size / epoch_size_bytes; else
// return nepoch; {
// } return 0;
// else }
// {
return 0;
// }
} }

10
src/tests/system-tests/libs/rtklib_solver_dump_reader.h
View File

@ -45,7 +45,7 @@ public:
int64_t num_epochs(); int64_t num_epochs();
bool open_obs_file(std::string out_file); bool open_obs_file(std::string out_file);
//rtklib_solver dump variables // rtklib_solver dump variables
// TOW // TOW
uint32_t TOW_at_current_symbol_ms; uint32_t TOW_at_current_symbol_ms;
// WEEK // WEEK
@ -57,7 +57,7 @@ public:
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double) // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
double rr[6]; double rr[6];
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double) // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
float qr[6]; double qr[6];
// GEO user position Latitude [deg] // GEO user position Latitude [deg]
double latitude; double latitude;
@ -72,12 +72,12 @@ public:
uint8_t status; uint8_t status;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline) // RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
uint8_t type; uint8_t type;
//AR ratio factor for validation // AR ratio factor for validation
float AR_ratio; float AR_ratio;
//AR ratio threshold for validation // AR ratio threshold for validation
float AR_thres; float AR_thres;
//GDOP//PDOP//HDOP//VDOP // GDOP / PDOP / HDOP / VDOP
double dop[4]; double dop[4];
private: private:

82
src/tests/system-tests/libs/spirent_motion_csv_dump_reader.cc
View File

@ -29,8 +29,63 @@
*/ */
#include "spirent_motion_csv_dump_reader.h" #include "spirent_motion_csv_dump_reader.h"
#include <boost/tokenizer.hpp>
#include <iostream> #include <iostream>
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
{
header_lines = 2;
TOW_ms = 0.0;
Pos_X = 0.0;
Pos_Y = 0.0;
Pos_Z = 0.0;
Vel_X = 0.0;
Vel_Y = 0.0;
Vel_Z = 0.0;
Acc_X = 0.0;
Acc_Y = 0.0;
Acc_Z = 0.0;
Jerk_X = 0.0;
Jerk_Y = 0.0;
Jerk_Z = 0.0;
Lat = 0.0;
Long = 0.0;
Height = 0.0;
Heading = 0.0;
Elevation = 0.0;
Bank = 0.0;
Ang_vel_X = 0.0;
Ang_vel_Y = 0.0;
Ang_vel_Z = 0.0;
Ang_acc_X = 0.0;
Ang_acc_Y = 0.0;
Ang_acc_Z = 0.0;
Ant1_Pos_X = 0.0;
Ant1_Pos_Y = 0.0;
Ant1_Pos_Z = 0.0;
Ant1_Vel_X = 0.0;
Ant1_Vel_Y = 0.0;
Ant1_Vel_Z = 0.0;
Ant1_Acc_X = 0.0;
Ant1_Acc_Y = 0.0;
Ant1_Acc_Z = 0.0;
Ant1_Lat = 0.0;
Ant1_Long = 0.0;
Ant1_Height = 0.0;
Ant1_DOP = 0.0;
}
spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
{
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
}
}
bool spirent_motion_csv_dump_reader::read_csv_obs() bool spirent_motion_csv_dump_reader::read_csv_obs()
{ {
try try
@ -54,6 +109,7 @@ bool spirent_motion_csv_dump_reader::read_csv_obs()
vec.push_back(0.0); vec.push_back(0.0);
} }
} }
parse_vector(vec);
} }
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
@ -63,6 +119,7 @@ bool spirent_motion_csv_dump_reader::read_csv_obs()
return true; return true;
} }
bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec) bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
{ {
try try
@ -113,6 +170,8 @@ bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
return false; return false;
} }
} }
bool spirent_motion_csv_dump_reader::restart() bool spirent_motion_csv_dump_reader::restart()
{ {
if (d_dump_file.is_open()) if (d_dump_file.is_open())
@ -135,13 +194,15 @@ bool spirent_motion_csv_dump_reader::restart()
int64_t spirent_motion_csv_dump_reader::num_epochs() int64_t spirent_motion_csv_dump_reader::num_epochs()
{ {
int64_t nepoch = 0; int64_t nepoch = 0LL;
std::string line; std::string line;
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); std::ifstream tmpfile(d_dump_filename.c_str());
if (tmpfile.is_open()) if (tmpfile.is_open())
{ {
while (std::getline(tmpfile, line)) while (std::getline(tmpfile, line))
++nepoch; {
++nepoch;
}
return nepoch - header_lines; return nepoch - header_lines;
} }
else else
@ -179,6 +240,7 @@ bool spirent_motion_csv_dump_reader::open_obs_file(std::string out_file)
} }
} }
void spirent_motion_csv_dump_reader::close_obs_file() void spirent_motion_csv_dump_reader::close_obs_file()
{ {
if (d_dump_file.is_open() == false) if (d_dump_file.is_open() == false)
@ -186,17 +248,3 @@ void spirent_motion_csv_dump_reader::close_obs_file()
d_dump_file.close(); d_dump_file.close();
} }
} }
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
{
header_lines = 2;
}
spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
{
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
}
}

9
src/tests/system-tests/libs/spirent_motion_csv_dump_reader.h
View File

@ -28,10 +28,9 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_spirent_motion_csv_dump_READER_H #ifndef GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
#define GNSS_SDR_spirent_motion_csv_dump_READER_H #define GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
#include <boost/tokenizer.hpp>
#include <cstdint> #include <cstdint>
#include <fstream> #include <fstream>
#include <string> #include <string>
@ -49,7 +48,7 @@ public:
void close_obs_file(); void close_obs_file();
int header_lines; int header_lines;
//dump variables // dump variables
double TOW_ms; double TOW_ms;
double Pos_X; double Pos_X;
double Pos_Y; double Pos_Y;
@ -95,4 +94,4 @@ private:
bool parse_vector(std::vector<double> &vec); bool parse_vector(std::vector<double> &vec);
}; };
#endif //GNSS_SDR_spirent_motion_csv_dump_READER_H #endif // GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H

292
src/tests/system-tests/position_test.cc
View File

@ -59,7 +59,7 @@
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue; concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map; concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
class StaticPositionSystemTest : public ::testing::Test class PositionSystemTest : public ::testing::Test
{ {
public: public:
int configure_generator(); int configure_generator();
@ -67,6 +67,7 @@ public:
int configure_receiver(); int configure_receiver();
int run_receiver(); int run_receiver();
void check_results(); void check_results();
std::string config_filename_no_extension;
private: private:
std::string generator_binary; std::string generator_binary;
@ -100,7 +101,7 @@ private:
}; };
void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude, void PositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
double* x, double* y, double* z) double* x, double* y, double* z)
{ {
const double a = 6378137.0; // WGS84 const double a = 6378137.0; // WGS84
@ -125,7 +126,7 @@ void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double
} }
void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude, void PositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
double* east, double* north, double* up) double* east, double* north, double* up)
{ {
double x, y, z; double x, y, z;
@ -168,7 +169,7 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
} }
double StaticPositionSystemTest::compute_stdev_precision(const std::vector<double>& vec) double PositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
{ {
double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0); double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
double mean__ = sum__ / vec.size(); double mean__ = sum__ / vec.size();
@ -181,7 +182,7 @@ double StaticPositionSystemTest::compute_stdev_precision(const std::vector<doubl
} }
double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref) double PositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
{ {
const double mean__ = ref; const double mean__ = ref;
double accum__ = 0.0; double accum__ = 0.0;
@ -193,7 +194,7 @@ double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double
} }
int StaticPositionSystemTest::configure_generator() int PositionSystemTest::configure_generator()
{ {
// Configure signal generator // Configure signal generator
generator_binary = FLAGS_generator_binary; generator_binary = FLAGS_generator_binary;
@ -215,7 +216,7 @@ int StaticPositionSystemTest::configure_generator()
} }
int StaticPositionSystemTest::generate_signal() int PositionSystemTest::generate_signal()
{ {
pid_t wait_result; pid_t wait_result;
int child_status; int child_status;
@ -238,7 +239,7 @@ int StaticPositionSystemTest::generate_signal()
} }
int StaticPositionSystemTest::configure_receiver() int PositionSystemTest::configure_receiver()
{ {
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
@ -407,7 +408,7 @@ int StaticPositionSystemTest::configure_receiver()
} }
int StaticPositionSystemTest::run_receiver() int PositionSystemTest::run_receiver()
{ {
std::shared_ptr<ControlThread> control_thread; std::shared_ptr<ControlThread> control_thread;
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
@ -448,20 +449,30 @@ int StaticPositionSystemTest::run_receiver()
{ {
std::string aux = std::string(buffer); std::string aux = std::string(buffer);
EXPECT_EQ(aux.empty(), false); EXPECT_EQ(aux.empty(), false);
StaticPositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1); PositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
} }
pclose(fp); pclose(fp);
EXPECT_EQ(StaticPositionSystemTest::generated_kml_file.empty(), false); EXPECT_EQ(PositionSystemTest::generated_kml_file.empty(), false);
return 0; return 0;
} }
void StaticPositionSystemTest::check_results() void PositionSystemTest::check_results()
{ {
std::vector<double> pos_e; std::vector<double> pos_e;
std::vector<double> pos_n; std::vector<double> pos_n;
std::vector<double> pos_u; std::vector<double> pos_u;
arma::mat R_eb_e; //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
arma::mat V_eb_e; //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
arma::mat LLH; //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
arma::vec receiver_time_s;
arma::mat ref_R_eb_e; //ECEF position (x,y,z) reference in the Earth frame (Nx3)
arma::mat ref_V_eb_e; //ECEF velocity (x,y,z) reference in the Earth frame (Nx3)
arma::mat ref_LLH; //Geodetic coordinates (latitude, longitude, height) reference in WGS84 datum
arma::vec ref_time_s;
std::istringstream iss2(FLAGS_static_position); std::istringstream iss2(FLAGS_static_position);
std::string str_aux; std::string str_aux;
std::getline(iss2, str_aux, ','); std::getline(iss2, str_aux, ',');
@ -477,7 +488,7 @@ void StaticPositionSystemTest::check_results()
if (!FLAGS_use_pvt_solver_dump) if (!FLAGS_use_pvt_solver_dump)
{ {
//fall back to read receiver KML output (position only) //fall back to read receiver KML output (position only)
std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in); std::fstream myfile(PositionSystemTest::generated_kml_file, std::ios_base::in);
ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened"; ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
std::string line; std::string line;
// Skip header // Skip header
@ -538,6 +549,12 @@ void StaticPositionSystemTest::check_results()
//use complete binary dump from pvt solver //use complete binary dump from pvt solver
rtklib_solver_dump_reader pvt_reader; rtklib_solver_dump_reader pvt_reader;
pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename); pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
int64_t n_epochs = pvt_reader.num_epochs();
R_eb_e = arma::zeros(n_epochs, 3);
V_eb_e = arma::zeros(n_epochs, 3);
LLH = arma::zeros(n_epochs, 3);
receiver_time_s = arma::zeros(n_epochs, 1);
int64_t current_epoch = 0;
while (pvt_reader.read_binary_obs()) while (pvt_reader.read_binary_obs())
{ {
double north, east, up; double north, east, up;
@ -548,7 +565,27 @@ void StaticPositionSystemTest::check_results()
pos_n.push_back(north); pos_n.push_back(north);
pos_u.push_back(up); pos_u.push_back(up);
// getchar(); // getchar();
// receiver_time_s(current_epoch) = static_cast<double>(pvt_reader.TOW_at_current_symbol_ms) / 1000.0;
receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
R_eb_e(current_epoch, 0) = pvt_reader.rr[0];
R_eb_e(current_epoch, 1) = pvt_reader.rr[1];
R_eb_e(current_epoch, 2) = pvt_reader.rr[2];
V_eb_e(current_epoch, 0) = pvt_reader.rr[3];
V_eb_e(current_epoch, 1) = pvt_reader.rr[4];
V_eb_e(current_epoch, 2) = pvt_reader.rr[5];
LLH(current_epoch, 0) = pvt_reader.latitude;
LLH(current_epoch, 1) = pvt_reader.longitude;
LLH(current_epoch, 2) = pvt_reader.height;
//debug check
// std::cout << "t1: " << pvt_reader.RX_time << std::endl;
// std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
// std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
// getchar();
current_epoch++;
} }
ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
} }
// compute results // compute results
@ -572,19 +609,22 @@ void StaticPositionSystemTest::check_results()
std::stringstream stm; std::stringstream stm;
std::ofstream position_test_file; std::ofstream position_test_file;
if (!FLAGS_config_file_ptest.empty())
{
stm << "Configuration file: " << FLAGS_config_file_ptest << std::endl;
}
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
stm << "---- ACCURACY ----" << std::endl; stm << "---- ACCURACY ----" << std::endl;
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl; stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl; stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl; stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, ref_n) + 0.56 * compute_stdev_accuracy(pos_e, ref_e) << " [m]" << std::endl;
stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl; stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
stm << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl; stm << "Bias 2D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0)) << " [m]" << std::endl;
stm << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl; stm << "Bias 3D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0) + std::pow(abs(mean__u - ref_u), 2.0)) << " [m]" << std::endl;
stm << std::endl; stm << std::endl;
} }
@ -598,7 +638,7 @@ void StaticPositionSystemTest::check_results()
stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl; stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
std::cout << stm.rdbuf(); std::cout << stm.rdbuf();
std::string output_filename = "position_test_output_" + StaticPositionSystemTest::generated_kml_file.erase(StaticPositionSystemTest::generated_kml_file.length() - 3, 3) + "txt"; std::string output_filename = "position_test_output_" + PositionSystemTest::generated_kml_file.erase(PositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
position_test_file.open(output_filename.c_str()); position_test_file.open(output_filename.c_str());
if (position_test_file.is_open()) if (position_test_file.is_open())
{ {
@ -618,11 +658,192 @@ void StaticPositionSystemTest::check_results()
else else
{ {
//dynamic position //dynamic position
spirent_motion_csv_dump_reader ref_reader;
ref_reader.open_obs_file(FLAGS_ref_motion_filename);
int64_t n_epochs = ref_reader.num_epochs();
ref_R_eb_e = arma::zeros(n_epochs, 3);
ref_V_eb_e = arma::zeros(n_epochs, 3);
ref_LLH = arma::zeros(n_epochs, 3);
ref_time_s = arma::zeros(n_epochs, 1);
int64_t current_epoch = 0;
while (ref_reader.read_csv_obs())
{
ref_time_s(current_epoch) = ref_reader.TOW_ms / 1000.0;
ref_R_eb_e(current_epoch, 0) = ref_reader.Pos_X;
ref_R_eb_e(current_epoch, 1) = ref_reader.Pos_Y;
ref_R_eb_e(current_epoch, 2) = ref_reader.Pos_Z;
ref_V_eb_e(current_epoch, 0) = ref_reader.Vel_X;
ref_V_eb_e(current_epoch, 1) = ref_reader.Vel_Y;
ref_V_eb_e(current_epoch, 2) = ref_reader.Vel_Z;
ref_LLH(current_epoch, 0) = ref_reader.Lat;
ref_LLH(current_epoch, 1) = ref_reader.Long;
ref_LLH(current_epoch, 2) = ref_reader.Height;
current_epoch++;
}
//interpolation of reference data to receiver epochs timestamps
arma::mat ref_interp_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
arma::mat ref_interp_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
arma::mat ref_interp_LLH = arma::zeros(LLH.n_rows, 3);
arma::vec tmp_vector;
for (int n = 0; n < 3; n++)
{
arma::interp1(ref_time_s, ref_R_eb_e.col(n), receiver_time_s, tmp_vector);
ref_interp_R_eb_e.col(n) = tmp_vector;
arma::interp1(ref_time_s, ref_V_eb_e.col(n), receiver_time_s, tmp_vector);
ref_interp_V_eb_e.col(n) = tmp_vector;
arma::interp1(ref_time_s, ref_LLH.col(n), receiver_time_s, tmp_vector);
ref_interp_LLH.col(n) = tmp_vector;
}
//compute error vectors
arma::mat error_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
arma::mat error_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
arma::mat error_LLH = arma::zeros(LLH.n_rows, 3);
error_R_eb_e = R_eb_e - ref_interp_R_eb_e;
error_V_eb_e = V_eb_e - ref_interp_V_eb_e;
error_LLH = LLH - ref_interp_LLH;
arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_rows, 1);
arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_rows, 1);
for (uint64_t n = 0; n < R_eb_e.n_rows; n++)
{
error_module_R_eb_e(n) = arma::norm(error_R_eb_e.row(n));
error_module_V_eb_e(n) = arma::norm(error_V_eb_e.row(n));
}
//Error statistics
arma::vec tmp_vec;
//RMSE, Mean, Variance and peaks
tmp_vec = arma::square(error_module_R_eb_e);
double rmse_R_eb_e = sqrt(arma::mean(tmp_vec));
double error_mean_R_eb_e = arma::mean(error_module_R_eb_e);
double error_var_R_eb_e = arma::var(error_module_R_eb_e);
double max_error_R_eb_e = arma::max(error_module_R_eb_e);
double min_error_R_eb_e = arma::min(error_module_R_eb_e);
tmp_vec = arma::square(error_module_V_eb_e);
double rmse_V_eb_e = sqrt(arma::mean(tmp_vec));
double error_mean_V_eb_e = arma::mean(error_module_V_eb_e);
double error_var_V_eb_e = arma::var(error_module_V_eb_e);
double max_error_V_eb_e = arma::max(error_module_V_eb_e);
double min_error_V_eb_e = arma::min(error_module_V_eb_e);
//report
std::cout << "----- Position and Velocity 3D ECEF error statistics -----" << std::endl;
if (!FLAGS_config_file_ptest.empty())
{
std::cout << "---- Configuration file: " << FLAGS_config_file_ptest << std::endl;
}
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "---- 3D ECEF Position RMSE = "
<< rmse_R_eb_e << ", mean = " << error_mean_R_eb_e
<< ", stdev = " << sqrt(error_var_R_eb_e)
<< " (max,min) = " << max_error_R_eb_e
<< "," << min_error_R_eb_e
<< " [m]" << std::endl;
std::cout << "---- 3D ECEF Velocity RMSE = "
<< rmse_V_eb_e << ", mean = " << error_mean_V_eb_e
<< ", stdev = " << sqrt(error_var_V_eb_e)
<< " (max,min) = " << max_error_V_eb_e
<< "," << min_error_V_eb_e
<< " [m/s]" << std::endl;
std::cout.precision(ss);
//plots
Gnuplot g1("points");
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("3D ECEF error coordinates");
g1.set_grid();
//conversion between arma::vec and std:vector
std::vector<double> X(error_R_eb_e.colptr(0), error_R_eb_e.colptr(0) + error_R_eb_e.n_rows);
std::vector<double> Y(error_R_eb_e.colptr(1), error_R_eb_e.colptr(1) + error_R_eb_e.n_rows);
std::vector<double> Z(error_R_eb_e.colptr(2), error_R_eb_e.colptr(2) + error_R_eb_e.n_rows);
g1.cmd("set key box opaque");
g1.plot_xyz(X, Y, Z, "ECEF 3D error");
g1.set_legend();
if (FLAGS_config_file_ptest.empty())
{
g1.savetops("ECEF_3d_error");
}
else
{
g1.savetops("ECEF_3d_error_" + config_filename_no_extension);
}
arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
Gnuplot g3("linespoints");
if (FLAGS_show_plots)
{
g3.showonscreen(); // window output
}
else
{
g3.disablescreen();
}
g3.set_title("3D Position estimation error module [m]");
g3.set_grid();
g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
g3.set_ylabel("3D Position error [m]");
//conversion between arma::vec and std:vector
std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
g3.cmd("set key box opaque");
g3.plot_xy(time_vector_from_start_s, error_vec, "Position 3D error");
double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size();
std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d);
g3.set_style("lines");
g3.plot_xy(time_vector_from_start_s, error_mean, "Mean");
g3.set_legend();
if (FLAGS_config_file_ptest.empty())
{
g3.savetops("Position_3d_error");
}
else
{
g3.savetops("Position_3d_error_" + config_filename_no_extension);
}
Gnuplot g4("linespoints");
if (FLAGS_show_plots)
{
g4.showonscreen(); // window output
}
else
{
g4.disablescreen();
}
g4.set_title("3D Velocity estimation error module [m/s]");
g4.set_grid();
g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
g4.set_ylabel("3D Velocity error [m/s]");
//conversion between arma::vec and std:vector
std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
g4.cmd("set key box opaque");
g4.plot_xy(time_vector_from_start_s, error_vec2, "Velocity 3D error");
double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size();
std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv);
g4.set_style("lines");
g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean");
g4.set_legend();
if (FLAGS_config_file_ptest.empty())
{
g4.savetops("Velocity_3d_error");
}
else
{
g4.savetops("Velocity_3d_error_" + config_filename_no_extension);
}
} }
} }
void StaticPositionSystemTest::print_results(const std::vector<double>& east, void PositionSystemTest::print_results(const std::vector<double>& east,
const std::vector<double>& north, const std::vector<double>& north,
const std::vector<double>& up) const std::vector<double>& up)
{ {
@ -687,9 +908,16 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
g1.cmd("set grid front"); g1.cmd("set grid front");
g1.cmd("replot"); g1.cmd("replot");
if (FLAGS_config_file_ptest.empty())
g1.savetops("Position_test_2D"); {
g1.savetopdf("Position_test_2D", 18); g1.savetops("Position_test_2D");
g1.savetopdf("Position_test_2D", 18);
}
else
{
g1.savetops("Position_test_2D_" + config_filename_no_extension);
g1.savetopdf("Position_test_2D_" + config_filename_no_extension, 18);
}
Gnuplot g2("points"); Gnuplot g2("points");
if (FLAGS_show_plots) if (FLAGS_show_plots)
@ -715,9 +943,16 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
std::to_string(ninty_sas) + std::to_string(ninty_sas) +
"\n fx(v,u) = r*cos(v)*cos(u)\n fy(v,u) = r*cos(v)*sin(u)\n fz(v) = r*sin(v) \n splot fx(v,u),fy(v,u),fz(v) title \"90\%-SAS\" lt rgb \"gray\"\n"); "\n fx(v,u) = r*cos(v)*cos(u)\n fy(v,u) = r*cos(v)*sin(u)\n fz(v) = r*sin(v) \n splot fx(v,u),fy(v,u),fz(v) title \"90\%-SAS\" lt rgb \"gray\"\n");
g2.plot_xyz(east, north, up, "3D Position Fixes"); g2.plot_xyz(east, north, up, "3D Position Fixes");
if (FLAGS_config_file_ptest.empty())
g2.savetops("Position_test_3D"); {
g2.savetopdf("Position_test_3D"); g2.savetops("Position_test_3D");
g2.savetopdf("Position_test_3D");
}
else
{
g2.savetops("Position_test_3D_" + config_filename_no_extension);
g2.savetopdf("Position_test_3D_" + config_filename_no_extension);
}
} }
catch (const GnuplotException& ge) catch (const GnuplotException& ge)
{ {
@ -726,7 +961,7 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
} }
} }
TEST_F(StaticPositionSystemTest, Position_system_test) TEST_F(PositionSystemTest, Position_system_test)
{ {
if (FLAGS_config_file_ptest.empty()) if (FLAGS_config_file_ptest.empty())
{ {
@ -739,6 +974,11 @@ TEST_F(StaticPositionSystemTest, Position_system_test)
generate_signal(); generate_signal();
} }
} }
else
{
config_filename_no_extension = FLAGS_config_file_ptest.substr(FLAGS_config_file_ptest.find_last_of("/\\") + 1);
config_filename_no_extension = config_filename_no_extension.erase(config_filename_no_extension.length() - 5);
}
// Configure receiver // Configure receiver
configure_receiver(); configure_receiver();

24
src/tests/test_main.cc
View File

@ -69,6 +69,21 @@ using google::LogMessage;
DECLARE_string(log_dir); DECLARE_string(log_dir);
#if UNIT_TESTING_MINIMAL
#include "unit-tests/arithmetic/matio_test.cc"
#if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
#if ENABLE_FPGA
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
#endif
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
#endif
#else
#include "unit-tests/arithmetic/complex_carrier_test.cc" #include "unit-tests/arithmetic/complex_carrier_test.cc"
#include "unit-tests/arithmetic/conjugate_test.cc" #include "unit-tests/arithmetic/conjugate_test.cc"
#include "unit-tests/arithmetic/magnitude_squared_test.cc" #include "unit-tests/arithmetic/magnitude_squared_test.cc"
@ -138,11 +153,16 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc"
#endif #endif
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc" #include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
#if EXTRA_TESTS #if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
@ -158,9 +178,7 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc" #include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
#endif #endif
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc" #endif // UNIT_TESTING_MINIMAL
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
// For GPS NAVIGATION (L1) // For GPS NAVIGATION (L1)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue; concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;

6
src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
View File

@ -37,6 +37,10 @@
#include "glonass_l2_ca_pcps_acquisition.h" #include "glonass_l2_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h" #include "gps_l2_m_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h" #include "gps_l5i_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "file_configuration.h"
#include "gnss_sdr_valve.h"
#include "acquisition_dump_reader.h"
#include "display.h" #include "display.h"
#include "gnuplot_i.h" #include "gnuplot_i.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
@ -45,6 +49,8 @@
#include "true_observables_reader.h" #include "true_observables_reader.h"
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
View File

@ -45,7 +45,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
View File

@ -37,7 +37,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -36,7 +36,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
View File

@ -39,7 +39,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -36,7 +36,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
View File

@ -33,7 +33,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
View File

@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
View File

@ -37,7 +37,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc
View File

@ -34,7 +34,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
View File

@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
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@ -38,7 +38,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc
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@ -36,7 +36,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/throttle.h> #include <gnuradio/blocks/throttle.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
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@ -36,7 +36,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_block_interface.h" #include "gnss_block_interface.h"

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
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@ -37,7 +37,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
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@ -36,7 +36,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
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@ -37,7 +37,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_short_to_complex.h> #include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <gnuradio/blocks/char_to_short.h> #include <gnuradio/blocks/char_to_short.h>
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

4
src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc
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@ -34,7 +34,11 @@
#include <gflags/gflags.h> #include <gflags/gflags.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>

1
src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt
View File

@ -19,6 +19,7 @@
set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
acquisition_dump_reader.cc acquisition_dump_reader.cc
acquisition_msg_rx.cc
tracking_dump_reader.cc tracking_dump_reader.cc
tlm_dump_reader.cc tlm_dump_reader.cc
observables_dump_reader.cc observables_dump_reader.cc

70
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_msg_rx.cc Normal file
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@ -0,0 +1,70 @@
/*!
* \file acquisition_msg_rx.cc
* \brief This is a helper class to catch the asynchronous messages
* emitted by an acquisition block.
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "acquisition_msg_rx.h"
#include <cstdint>
#include <boost/bind.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
{
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
}
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
rx_message = message;
top_block->stop(); // stop the flowgraph
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
rx_message = 0;
}
}
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_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->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx::~Acquisition_msg_rx() {}

62
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_msg_rx.h Normal file
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@ -0,0 +1,62 @@
/*!
* \file acquisition_msg_rx.h
* \brief This is a helper class to catch the asynchronous messages
* emitted by an acquisition block.
* \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_ACQUISITION_MSG_RX_H
#define GNSS_SDR_ACQUISITION_MSG_RX_H
#include <gnuradio/top_block.h>
#include <gnuradio/block.h>
#include <pmt/pmt.h>
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx;
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
class Acquisition_msg_rx : public gr::block
{
private:
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx();
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx(); //!< Default destructor
};
#endif

9
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -49,6 +49,15 @@
#include "gnss_satellite.h" #include "gnss_satellite.h"
#include "gnss_block_factory.h" #include "gnss_block_factory.h"
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "acquisition_msg_rx.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_pcps_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "glonass_l1_ca_pcps_acquisition.h"
#include "glonass_l2_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h"
#include "tracking_interface.h" #include "tracking_interface.h"
#include "telemetry_decoder_interface.h" #include "telemetry_decoder_interface.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"

4
src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc
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@ -34,7 +34,11 @@
#include <chrono> #include <chrono>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_sdr_valve.h" #include "gnss_sdr_valve.h"

4
src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc
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@ -32,7 +32,11 @@
#include <chrono> #include <chrono>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include "gnss_sdr_valve.h" #include "gnss_sdr_valve.h"

4
src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc
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@ -33,7 +33,11 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_f.h> #include <gnuradio/analog/sig_source_f.h>
#endif
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include "gnss_sdr_valve.h" #include "gnss_sdr_valve.h"

5
src/tests/unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc
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@ -33,9 +33,14 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#ifdef GR_GREATER_38
#include <gnuradio/blocks/vector_source.h>
#include <gnuradio/blocks/vector_sink.h>
#else
#include <gnuradio/blocks/vector_source_b.h> #include <gnuradio/blocks/vector_source_b.h>
#include <gnuradio/blocks/vector_source_s.h> #include <gnuradio/blocks/vector_source_s.h>
#include <gnuradio/blocks/vector_sink_b.h> #include <gnuradio/blocks/vector_sink_b.h>
#endif
#include <gnuradio/blocks/stream_to_vector.h> #include <gnuradio/blocks/stream_to_vector.h>
#include "unpack_2bit_samples.h" #include "unpack_2bit_samples.h"

4
src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
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@ -38,7 +38,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
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@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
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@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
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@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
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@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
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@ -39,7 +39,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

4
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
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@ -41,7 +41,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

22
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc
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@ -38,7 +38,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/blocks/interleaved_char_to_complex.h> #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>
@ -546,7 +550,14 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
g1.plot_xy(timevec, late, "Late", decimate); g1.plot_xy(timevec, late, "Late", decimate);
g1.savetops("Correlators_outputs"); g1.savetops("Correlators_outputs");
g1.savetopdf("Correlators_outputs", 18); g1.savetopdf("Correlators_outputs", 18);
g1.showonscreen(); // window output if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
Gnuplot g2("points"); Gnuplot g2("points");
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
@ -557,7 +568,14 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
g2.plot_xy(promptI, promptQ); g2.plot_xy(promptI, promptQ);
g2.savetops("Constellation"); g2.savetops("Constellation");
g2.savetopdf("Constellation", 18); g2.savetopdf("Constellation", 18);
g2.showonscreen(); // window output if (FLAGS_show_plots)
{
g2.showonscreen(); // window output
}
else
{
g2.disablescreen();
}
} }
catch (const GnuplotException& ge) catch (const GnuplotException& ge)
{ {

4
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc
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@ -35,7 +35,11 @@
#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>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h> #include <gnuradio/analog/sig_source_c.h>
#endif
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h> #include <gnuradio/blocks/skiphead.h>

80
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
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@ -30,24 +30,14 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include <chrono>
#include <unistd.h>
#include <vector>
#include <armadillo>
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/blocks/head.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 "tracking_interface.h" #include "tracking_interface.h"
#include "gps_l2_m_pcps_acquisition.h" #include "gps_l2_m_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition.h" #include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h" #include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h" #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h" #include "galileo_e5a_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h" #include "gps_l5i_pcps_acquisition.h"
@ -58,61 +48,21 @@
#include "gnuplot_i.h" #include "gnuplot_i.h"
#include "test_flags.h" #include "test_flags.h"
#include "tracking_tests_flags.h" #include "tracking_tests_flags.h"
#include "acquisition_msg_rx.h"
#include <boost/filesystem.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/blocks/head.h>
#include <gtest/gtest.h>
#include <chrono>
#include <cstdint>
#include <vector>
#include <armadillo>
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx;
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
class Acquisition_msg_rx : public gr::block
{
private:
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx();
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx(); //!< Default destructor
};
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
{
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
}
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
rx_message = message;
top_block->stop(); //stop the flowgraph
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
rx_message = 0;
}
}
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_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->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx::~Acquisition_msg_rx() {}
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER ######### // ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
class TrackingPullInTest_msg_rx; class TrackingPullInTest_msg_rx;

2
src/utils/reproducibility/ieee-access18/L2-access18.conf
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@ -133,7 +133,7 @@ PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./data/PVT PVT.dump_filename=./data/access18
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea

44
src/utils/reproducibility/ieee-access18/plot_dump.m
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@ -62,26 +62,46 @@ ylabel('Navigation data bits','fontname','Times','fontsize', fontsize)
grid on grid on
fileID = fopen('data/PVT_ls_pvt.dat', 'r'); fileID = fopen('data/access18_pvt.dat', 'r');
dinfo = dir('data/PVT_ls_pvt.dat'); dinfo = dir('data/access18_pvt.dat');
filesize = dinfo.bytes; filesize = dinfo.bytes;
aux = 1; aux = 1;
while ne(ftell(fileID), filesize) while ne(ftell(fileID), filesize)
navsol.RX_time(aux) = fread(fileID, 1, 'double'); navsol.TOW_at_current_symbol_ms(aux) = fread(fileID, 1, 'uint32');
navsol.X(aux) = fread(fileID, 1, 'double'); navsol.week(aux) = fread(fileID, 1, 'uint32');
navsol.Y(aux) = fread(fileID, 1, 'double'); navsol.RX_time(aux) = fread(fileID, 1, 'double');
navsol.Z(aux) = fread(fileID, 1, 'double'); navsol.user_clock_offset(aux) = fread(fileID, 1, 'double');
navsol.user_clock(aux) = fread(fileID, 1, 'double'); navsol.X(aux) = fread(fileID, 1, 'double');
navsol.lat(aux) = fread(fileID, 1, 'double'); navsol.Y(aux) = fread(fileID, 1, 'double');
navsol.long(aux) = fread(fileID, 1, 'double'); navsol.Z(aux) = fread(fileID, 1, 'double');
navsol.height(aux) = fread(fileID, 1, 'double'); navsol.VX(aux) = fread(fileID, 1, 'double');
navsol.VY(aux) = fread(fileID, 1, 'double');
navsol.VZ(aux) = fread(fileID, 1, 'double');
navsol.varXX(aux) = fread(fileID, 1, 'double');
navsol.varYY(aux) = fread(fileID, 1, 'double');
navsol.varZZ(aux) = fread(fileID, 1, 'double');
navsol.varXY(aux) = fread(fileID, 1, 'double');
navsol.varYZ(aux) = fread(fileID, 1, 'double');
navsol.varZX(aux) = fread(fileID, 1, 'double');
navsol.latitude(aux) = fread(fileID, 1, 'double');
navsol.longitude(aux) = fread(fileID, 1, 'double');
navsol.height(aux) = fread(fileID, 1, 'double');
navsol.number_sats(aux) = fread(fileID, 1, 'uint8');
navsol.solution_status(aux) = fread(fileID, 1, 'uint8');
navsol.solution_type(aux) = fread(fileID, 1, 'uint8');
navsol.AR_ratio_factor(aux) = fread(fileID, 1, 'float');
navsol.AR_ratio_threshold(aux) = fread(fileID, 1, 'float');
navsol.GDOP(aux) = fread(fileID, 1, 'double');
navsol.PDOP(aux) = fread(fileID, 1, 'double');
navsol.HDOP(aux) = fread(fileID, 1, 'double');
navsol.VDOP(aux) = fread(fileID, 1, 'double');
aux = aux + 1; aux = aux + 1;
end end
fclose(fileID); fclose(fileID);
mean_Latitude = mean(navsol.lat); mean_Latitude = mean(navsol.latitude);
mean_Longitude = mean(navsol.long); mean_Longitude = mean(navsol.longitude);
mean_h = mean(navsol.height); mean_h = mean(navsol.height);
utmZone = findUtmZone(mean_Latitude, mean_Longitude); utmZone = findUtmZone(mean_Latitude, mean_Longitude);
[ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5); [ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);