Mara Branzanti GSoC commit: Galileo observables block skeleton. Not usable yet!

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@418 64b25241-fba3-4117-9849-534c7e92360d

src/algorithms/observables/adapters/CMakeLists.txt

@@ -16,7 +16,10 @@
 # along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 #
 
-set(OBS_ADAPTER_SOURCES gps_l1_ca_observables.cc)
+set(OBS_ADAPTER_SOURCES 
+	gps_l1_ca_observables.cc
+	galileo_e1_observables.cc
+)
 
 include_directories(
      $(CMAKE_CURRENT_SOURCE_DIR)

src/algorithms/observables/adapters/galileo_e1_observables.cc

@@ -0,0 +1,102 @@
+/*!
+ * \file galileo_e1_observables.cc
+ * \brief Implementation of an adapter of a Galileo E1 observables block
+ * to a ObservablesInterface
+ * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "galileo_e1_observables.h"
+#include "configuration_interface.h"
+#include "galileo_e1_observables_cc.h"
+#include <glog/log_severity.h>
+#include <glog/logging.h>
+
+using google::LogMessage;
+
+GalileoE1Observables::GalileoE1Observables(ConfigurationInterface* configuration,
+        std::string role,
+        unsigned int in_streams,
+        unsigned int out_streams,
+        boost::shared_ptr<gr::msg_queue> queue) :
+                    role_(role),
+                    in_streams_(in_streams),
+                    out_streams_(out_streams),
+                    queue_(queue)
+{
+    int output_rate_ms;
+    output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
+    std::string default_dump_filename = "./observables.dat";
+    DLOG(INFO) << "role " << role;
+    bool flag_averaging;
+    flag_averaging = configuration->property(role + ".flag_averaging", false);
+    dump_ = configuration->property(role + ".dump", false);
+    dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
+    fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    observables_ = galileo_e1_make_observables_cc(in_streams_, queue_, dump_, dump_filename_, output_rate_ms, flag_averaging);
+    observables_->set_fs_in(fs_in_);
+    DLOG(INFO) << "pseudorange(" << observables_->unique_id() << ")";
+}
+
+
+
+
+GalileoE1Observables::~GalileoE1Observables()
+{}
+
+
+
+
+void GalileoE1Observables::connect(gr::top_block_sptr top_block)
+{
+    // Nothing to connect internally
+    DLOG(INFO) << "nothing to connect internally";
+}
+
+
+
+void GalileoE1Observables::disconnect(gr::top_block_sptr top_block)
+{
+    // Nothing to disconnect
+}
+
+
+
+
+gr::basic_block_sptr GalileoE1Observables::get_left_block()
+{
+    return observables_;
+}
+
+
+
+
+gr::basic_block_sptr GalileoE1Observables::get_right_block()
+{
+    return observables_;
+}
+

src/algorithms/observables/adapters/galileo_e1_observables.h

@@ -0,0 +1,90 @@
+/*!
+ * \file galileo_e1_observables.h
+ * \brief Implementation of an adapter of a Galileo E1 observables block
+ * to a ObservablesInterface
+ * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
+ * \author Javier Arribas 2013. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GALILEO_E1_OBSERVABLES_H_
+#define GNSS_SDR_GALILEO_E1_OBSERVABLES_H_
+
+#include "observables_interface.h"
+#include "galileo_e1_observables_cc.h"
+#include <gnuradio/msg_queue.h>
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements an ObservablesInterface for Galileo E1
+ */
+class GalileoE1Observables : public ObservablesInterface
+{
+public:
+	GalileoE1Observables(ConfigurationInterface* configuration,
+                       std::string role,
+                       unsigned int in_streams,
+                       unsigned int out_streams,
+                       boost::shared_ptr<gr::msg_queue> queue);
+    virtual ~GalileoE1Observables();
+    std::string role()
+    {
+        return role_;
+    }
+
+    std::string implementation()
+    {
+        return "Galileo_E1B_Observables";
+    }
+    void connect(gr::top_block_sptr top_block);
+    void disconnect(gr::top_block_sptr top_block);
+    gr::basic_block_sptr get_left_block();
+    gr::basic_block_sptr get_right_block();
+    void reset()
+    {
+        return;
+    }
+
+    //! All blocks must have an item_size() function implementation
+    size_t item_size()
+    {
+        return sizeof(gr_complex);
+    }
+
+private:
+    galileo_e1_observables_cc_sptr observables_;
+    bool dump_;
+    unsigned int fs_in_;
+    std::string dump_filename_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+    boost::shared_ptr<gr::msg_queue> queue_;
+};
+
+#endif

src/algorithms/observables/gnuradio_blocks/CMakeLists.txt

@@ -16,7 +16,10 @@
 # along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 #
 
-set(OBS_GR_BLOCKS_SOURCES gps_l1_ca_observables_cc.cc )
+set(OBS_GR_BLOCKS_SOURCES 
+	gps_l1_ca_observables_cc.cc 
+	galileo_e1_observables_cc.cc
+)
 
 include_directories(
      $(CMAKE_CURRENT_SOURCE_DIR)

src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.cc

@@ -0,0 +1,205 @@
+/*!
+ * \file gps_l1_ca_observables_cc.cc
+ * \brief Implementation of the pseudorange computation block for GPS L1 C/A
+ * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
+ * \author Javier Arribas 2013. jarribas(at)cttc.es
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "galileo_e1_observables_cc.h"
+#include <iostream>
+#include <sstream>
+#include <vector>
+#include <map>
+#include <algorithm>
+#include <bitset>
+#include <cmath>
+#include "control_message_factory.h"
+#include <gnuradio/io_signature.h>
+#include <glog/log_severity.h>
+#include <glog/logging.h>
+#include "gnss_synchro.h"
+
+
+using google::LogMessage;
+
+
+galileo_e1_observables_cc_sptr
+galileo_e1_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging)
+{
+    return galileo_e1_observables_cc_sptr(new galileo_e1_observables_cc(nchannels, queue, dump, dump_filename, output_rate_ms, flag_averaging));
+}
+
+
+galileo_e1_observables_cc::galileo_e1_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
+		                        gr::block("galileo_e1_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
+		                        gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
+{
+    // initialize internal vars
+    d_queue = queue;
+    d_dump = dump;
+    d_nchannels = nchannels;
+    d_output_rate_ms = output_rate_ms;
+    d_dump_filename = dump_filename;
+    d_flag_averaging = flag_averaging;
+
+    // ############# ENABLE DATA FILE LOG #################
+    if (d_dump == true)
+        {
+            if (d_dump_file.is_open() == false)
+                {
+                    try
+                    {
+                            d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
+                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+                            std::cout << "Observables dump enabled Log file: " << d_dump_filename.c_str() << std::endl;
+                    }
+                    catch (std::ifstream::failure e)
+                    {
+                            std::cout << "Exception opening observables dump file " << e.what() << std::endl;
+                    }
+                }
+        }
+}
+
+
+
+galileo_e1_observables_cc::~galileo_e1_observables_cc()
+{
+    d_dump_file.close();
+}
+//
+bool galileo_e1_observables_cc::pairCompare_gnss_synchro_Prn_delay_ms( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
+{
+    return (a.second.Prn_timestamp_ms) < (b.second.Prn_timestamp_ms);
+}
+
+
+bool galileo_e1_observables_cc::pairCompare_gnss_synchro_d_TOW_at_current_symbol( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b)
+{
+    return (a.second.d_TOW_at_current_symbol) < (b.second.d_TOW_at_current_symbol);
+}
+
+
+int galileo_e1_observables_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
+        gr_vector_const_void_star &input_items,	gr_vector_void_star &output_items)
+{
+//    Gnss_Synchro **in = (Gnss_Synchro **)  &input_items[0]; //Get the input pointer
+//    Gnss_Synchro **out = (Gnss_Synchro **)  &output_items[0]; //Get the output pointer
+//
+//    Gnss_Synchro current_gnss_synchro[d_nchannels];
+//    std::map<int,Gnss_Synchro> current_gnss_synchro_map;
+//    std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter;
+//
+//    d_sample_counter++; //count for the processed samples
+//    /*
+//     * 1. Read the GNSS SYNCHRO objects from available channels
+//     */
+//    for (unsigned int i=0; i<d_nchannels ; i++)
+//        {
+//            //Copy the telemetry decoder data to local copy
+//            current_gnss_synchro[i] = in[i][0];
+//            /*
+//             * 1.2 Assume no valid pseudoranges
+//             */
+//            current_gnss_synchro[i].Flag_valid_pseudorange = false;
+//            current_gnss_synchro[i].Pseudorange_m = 0.0;
+//            if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
+//                {
+//                    //record the word structure in a map for pseudorange computation
+//                    current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
+//                }
+//        }
+//    /*
+//     * 2. Compute RAW pseudoranges using COMMON RECEPTION TIME algorithm. Use only the valid channels (channels that are tracking a satellite)
+//     */
+//    if(current_gnss_synchro_map.size() > 0)
+//        {
+//            /*
+//             *  2.1 Use CURRENT set of measurements and find the nearest satellite
+//             *  common RX time algorithm
+//             */
+//            //;
+//            // what is the most recent symbol TOW in the current set? -> this will be the reference symbol
+//            gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_d_TOW_at_current_symbol);
+//            double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
+//            double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
+//            //int reference_channel= gnss_synchro_iter->second.Channel_ID;
+//
+//            // Now compute RX time differences due to the PRN alignement in the correlators
+//            double traveltime_ms;
+//            double pseudorange_m;
+//            double delta_rx_time_ms;
+//            for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
+//            {
+//            	// compute the required symbol history shift in order to match the reference symbol
+//            	delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
+//            	//std::cout<<"delta_rx_time_ms="<<delta_rx_time_ms<<std::endl;
+//            	//compute the pseudorange
+//            	traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
+//            	pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
+//                // update the pseudorange object
+//                current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
+//                current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
+//                current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
+//                current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000)/1000 + GPS_STARTOFFSET_ms/1000.0;
+//            }
+//        }
+//
+//
+//    if(d_dump == true)
+//        {
+//            // MULTIPLEXED FILE RECORDING - Record results to file
+//            try
+//            {
+//                    double tmp_double;
+//                    for (unsigned int i=0; i<d_nchannels ; i++)
+//                        {
+//                            tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
+//                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+//                            tmp_double = current_gnss_synchro[i].Prn_timestamp_ms;
+//                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+//                            tmp_double = current_gnss_synchro[i].Pseudorange_m;
+//                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+//                            tmp_double = 0;
+//                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+//                            tmp_double = current_gnss_synchro[i].PRN;
+//                            d_dump_file.write((char*)&tmp_double, sizeof(double));
+//                        }
+//            }
+//            catch (std::ifstream::failure e)
+//            {
+//                    std::cout << "Exception writing observables dump file " << e.what() << std::endl;
+//            }
+//        }
+//
+    consume_each(1); //one by one
+//    for (unsigned int i=0; i<d_nchannels ; i++)
+//        {
+//            *out[i] = current_gnss_synchro[i];
+//        }
+    return 1; //Output the observables
+}
+

src/algorithms/observables/gnuradio_blocks/galileo_e1_observables_cc.h

@@ -0,0 +1,86 @@
+/*!
+ * \file gps_l1_ca_observables_cc.h
+ * \brief Interface of the pseudorange computation block for GPS L1 C/A
+ * \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
+ * \author Javier Arribas 2013. jarribas(at)cttc.es
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#ifndef GNSS_SDR_GALILEO_E1_OBSERVABLES_CC_H
+#define	GNSS_SDR_GALILEO_E1_OBSERVABLES_CC_H
+
+#include <fstream>
+#include <gnuradio/block.h>
+#include <gnuradio/msg_queue.h>
+#include <queue>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include "concurrent_queue.h"
+//#include "gps_navigation_message.h" //to removed
+#include "galileo_navigation_message.h"
+#include "rinex_printer.h"
+//#include "GPS_L1_CA.h" //to remove
+#include "gnss_synchro.h"
+
+class galileo_e1_observables_cc;
+
+typedef boost::shared_ptr<galileo_e1_observables_cc> galileo_e1_observables_cc_sptr;
+
+galileo_e1_observables_cc_sptr
+galileo_e1_make_observables_cc(unsigned int n_channels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
+
+/*!
+ * \brief This class implements a block that computes Galielo observables
+ */
+class galileo_e1_observables_cc : public gr::block
+{
+public:
+    ~galileo_e1_observables_cc ();
+    void set_fs_in(unsigned long int fs_in) {d_fs_in = fs_in;};
+    int general_work (int noutput_items, gr_vector_int &ninput_items,
+            gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+private:
+    friend galileo_e1_observables_cc_sptr
+    galileo_e1_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
+    galileo_e1_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
+
+    bool pairCompare_gnss_synchro_Prn_delay_ms( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b);
+    bool pairCompare_gnss_synchro_d_TOW_at_current_symbol( std::pair<int,Gnss_Synchro> a, std::pair<int,Gnss_Synchro> b);
+
+    // class private vars
+    boost::shared_ptr<gr::msg_queue> d_queue;
+    bool d_dump;
+    bool d_flag_averaging;
+    long int d_sample_counter;
+    unsigned int d_nchannels;
+    unsigned long int d_fs_in;
+    int d_output_rate_ms;
+    std::string d_dump_filename;
+    std::ofstream d_dump_file;
+};
+
+#endif

src/core/receiver/gnss_block_factory.cc

@@ -70,6 +70,7 @@
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
 #include "gps_l1_ca_observables.h"
+#include "galileo_e1_observables.h"
 #include "gps_l1_ca_pvt.h"
 
 #if GN3S_DRIVER
@@ -148,6 +149,7 @@ GNSSBlockInterface* GNSSBlockFactory::GetObservables(
         ConfigurationInterface *configuration, boost::shared_ptr<gr::msg_queue> queue)
 {
     std::string default_implementation = "GPS_L1_CA_Observables";
+
     std::string implementation = configuration->property(
             "Observables.implementation", default_implementation);
     DLOG(INFO) << "Getting Observables with implementation "
@@ -422,6 +424,12 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
                     out_streams, queue);
         }
 
+    else if (implementation.compare("Galileo_E1B_Observables") == 0)
+                {
+                   block = new GalileoE1Observables(configuration, role, in_streams,
+                            out_streams, queue);
+                }
+
     // PVT -------------------------------------------------------------------------
     else if (implementation.compare("GPS_L1_CA_PVT") == 0)
         {