mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-10-30 14:46:23 +00:00
[TAS-126] [TAS-125] NavData storage of last 10 SFs / NavData retrieval: store needed NavData within osnma_data::NavData for the last 10 subframes
* In osnma_msg_receiver: d_old_navdata_buffer to store last 10 NavData. * In osnma_msg_receiver::process_mack_message: pass needed data to the newly created structure osnma_data::NavData, generate needed vectors for tag verification. * In osnma_data.h/cc: Create NavData structure, Create osnma_data.cc source file, add to CMakeLists source file.
This commit is contained in:
Cesare G. Martínez
parent
08bd1992af
commit
620249f9f2
@ -145,7 +145,7 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
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// Send the resulting decoded NMA data (if available) to PVT
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if (d_new_data == true) // TODO where is it set to true?
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{
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auto osnma_data_ptr = std::make_shared<OSNMA_data>(d_osnma_data); // C: why create new object and pass it empty to Pvt?
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auto osnma_data_ptr = std::make_shared<OSNMA_data>(d_osnma_data);
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this->message_port_pub(pmt::mp("OSNMA_to_PVT"), pmt::make_any(osnma_data_ptr));
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d_new_data = false;
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// d_osnma_data = OSNMA_data();
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@ -821,9 +821,14 @@ void osnma_msg_receiver::read_mack_body()
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void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>& osnma_msg)
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{
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// TODO - is it filled at this point always?
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d_old_mack_message.push_back(d_osnma_data.d_mack_message); // C: old mack message is needed for
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d_old_mack_message.push_back(d_osnma_data.d_mack_message); // last 10 MACKs are needed to be stored as per ICD
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// populate d_nav_data with three classes of osnma_msg
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d_osnma_data.d_nav_data.EphemerisData = osnma_msg->EphemerisData;
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d_osnma_data.d_nav_data.IonoData = osnma_msg->IonoData;
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d_osnma_data.d_nav_data.UtcData = osnma_msg->UtcModelData;
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d_osnma_data.d_nav_data.generate_eph_iono_vector2();
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d_osnma_data.d_nav_data.generate_utc_vector();
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d_old_navdata_buffer.push_back(d_osnma_data.d_nav_data); // last 10 NavData messages are needed to be stored as per ICD
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// MACSEQ validation - case no FLX Tags
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// retrieve data to verify MACK tags
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@ -73,6 +73,7 @@ private:
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void process_mack_message(const std::shared_ptr<OSNMA_msg>& osnma_msg);
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boost::circular_buffer<MACK_message> d_old_mack_message;
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boost::circular_buffer<NavData> d_old_navdata_buffer; // buffer that holds last 10 received navdata messages
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std::unique_ptr<OSNMA_DSM_Reader> d_dsm_reader;
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std::unique_ptr<Gnss_Crypto> d_crypto;
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@ -30,6 +30,7 @@ set(SYSTEM_PARAMETERS_SOURCES
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glonass_gnav_navigation_message.cc
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reed_solomon.cc
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osnma_dsm_reader.cc
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osnma_data.cc
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)
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set(SYSTEM_PARAMETERS_HEADERS
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@ -1384,6 +1384,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
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OSNMA_msg Galileo_Inav_Message::get_osnma_msg()
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{
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// TODO - why PRN of word 4 is done separately?
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nma_position_filled = std::array<int8_t, 15>{};
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// Fill TOW and WN
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nma_msg.WN_sf0 = WN_0;
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185
src/core/system_parameters/osnma_data.cc
Normal file
185
src/core/system_parameters/osnma_data.cc
Normal file
@ -0,0 +1,185 @@
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/*!
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* \file osnma_data.cc
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* \brief Class for Galileo OSNMA data storage
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* \author Carles Fernandez-Prades, 2020-2023 cfernandez(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2023 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "osnma_data.h"
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#include <cstring>
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void NavData::generate_eph_iono_vector()
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{
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ephemeris_iono_vector.clear();
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ephemeris_iono_vector.push_back(static_cast<uint8_t>((EphemerisData.IOD_nav & 0b0000'0000'0000'0000'0000'0011'1111'1100) >> 2));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>((EphemerisData.IOD_nav & 0b0000'0000'0000'0000'0000'0000'0000'0011) << 6
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| (EphemerisData.toe & 0b0000'0000'0000'0000'0011'1111'1111'1111) >> 8));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(EphemerisData.toe));
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uint64_t binary_representation;
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memcpy(&binary_representation, &EphemerisData.M_0, sizeof(EphemerisData.M_0));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 8)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 16)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 24)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 32)));
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memcpy(&binary_representation, &EphemerisData.ecc, sizeof(EphemerisData.ecc));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 8)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 16)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 24)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 32)));
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memcpy(&binary_representation, &EphemerisData.sqrtA, sizeof(EphemerisData.sqrtA));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 8)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 16)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 24)));
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ephemeris_iono_vector.push_back(static_cast<uint8_t>(binary_representation >> (64 - 32)));
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// TODO: Implement the function to generate the rest of pages
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}
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void NavData::generate_eph_iono_vector2()
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{
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std::vector<uint8_t> eph_iono_vector;
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uint64_t bit_buffer = 0; // variable to store the bits to be extracted, it can contain bits from different variables
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int bit_count = 0; // Number of bits in the buffer, i.e. to be extracted
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// create structure to hold the variables to store into the vector along with their bit size
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std::vector<std::pair<void*, int>> variables = {
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// data from word type 1
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{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
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{static_cast<void*>(&EphemerisData.toe), sizeof(EphemerisData.toe) * 8},
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{static_cast<void*>(&EphemerisData.M_0), sizeof(EphemerisData.M_0) * 8},
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{static_cast<void*>(&EphemerisData.ecc), sizeof(EphemerisData.ecc) * 8},
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{static_cast<void*>(&EphemerisData.sqrtA), sizeof(EphemerisData.sqrtA) * 8},
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// data from word type 2
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{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
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{static_cast<void*>(&EphemerisData.OMEGA_0), sizeof(EphemerisData.OMEGA_0) * 8},
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{static_cast<void*>(&EphemerisData.i_0), sizeof(EphemerisData.i_0) * 8},
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{static_cast<void*>(&EphemerisData.omega), sizeof(EphemerisData.omega) * 8},
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{static_cast<void*>(&EphemerisData.idot), sizeof(EphemerisData.idot) * 8},
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{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
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// data from word type 3
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{static_cast<void*>(&EphemerisData.OMEGAdot), sizeof(EphemerisData.OMEGAdot) * 8},
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{static_cast<void*>(&EphemerisData.delta_n), sizeof(EphemerisData.delta_n) * 8},
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{static_cast<void*>(&EphemerisData.Cuc), sizeof(EphemerisData.Cuc) * 8},
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{static_cast<void*>(&EphemerisData.Cus), sizeof(EphemerisData.Cus) * 8},
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{static_cast<void*>(&EphemerisData.Crc), sizeof(EphemerisData.Crc) * 8},
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{static_cast<void*>(&EphemerisData.Crs), sizeof(EphemerisData.Crs) * 8},
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{static_cast<void*>(&EphemerisData.SISA), sizeof(EphemerisData.SISA) * 8},
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// data from word type 4
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{static_cast<void*>(&EphemerisData.IOD_nav), sizeof(EphemerisData.IOD_nav) * 8},
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{static_cast<void*>(&EphemerisData.PRN), sizeof(EphemerisData.PRN) * 8},
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{static_cast<void*>(&EphemerisData.Cic), sizeof(EphemerisData.Cic) * 8},
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{static_cast<void*>(&EphemerisData.Cis), sizeof(EphemerisData.Cis) * 8},
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{static_cast<void*>(&EphemerisData.toe), sizeof(EphemerisData.toe) * 8},
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{static_cast<void*>(&EphemerisData.af0), sizeof(EphemerisData.af0) * 8},
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{static_cast<void*>(&EphemerisData.af1), sizeof(EphemerisData.af1) * 8},
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{static_cast<void*>(&EphemerisData.af2), sizeof(EphemerisData.af2) * 8},
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// data from word type 5
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{static_cast<void*>(&IonoData.ai0), sizeof(IonoData.ai0) * 8},
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{static_cast<void*>(&IonoData.ai1), sizeof(IonoData.ai1) * 8},
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{static_cast<void*>(&IonoData.ai2), sizeof(IonoData.ai2) * 8},
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{static_cast<void*>(&IonoData.Region1_flag), sizeof(IonoData.Region1_flag) * 8},
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{static_cast<void*>(&IonoData.Region2_flag), sizeof(IonoData.Region2_flag) * 8},
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{static_cast<void*>(&IonoData.Region3_flag), sizeof(IonoData.Region3_flag) * 8},
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{static_cast<void*>(&IonoData.Region4_flag), sizeof(IonoData.Region4_flag) * 8},
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{static_cast<void*>(&IonoData.Region5_flag), sizeof(IonoData.Region5_flag) * 8},
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{static_cast<void*>(&EphemerisData.BGD_E1E5a), sizeof(EphemerisData.BGD_E1E5a) * 8},
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{static_cast<void*>(&EphemerisData.BGD_E1E5b), sizeof(EphemerisData.BGD_E1E5b) * 8},
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{static_cast<void*>(&EphemerisData.E5b_HS), sizeof(EphemerisData.E5b_HS) * 8},
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{static_cast<void*>(&EphemerisData.E1B_HS), sizeof(EphemerisData.E1B_HS) * 8},
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{static_cast<void*>(&EphemerisData.E5b_DVS), sizeof(EphemerisData.E5b_DVS) * 8},
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{static_cast<void*>(&EphemerisData.E1B_DVS), sizeof(EphemerisData.E1B_DVS) * 8},
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};
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for (auto& var : variables)
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{
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// extract the bits from the variable
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uint64_t binary_representation;
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memcpy(&binary_representation, var.first, var.second / 8);
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// Append the bits to the buffer and update the bit count
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bit_buffer = (bit_buffer << var.second) | binary_representation;
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bit_count += var.second;
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// While there are 8 or more bits in the buffer
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while (bit_count >= 8)
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{
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// Extract the 8 bits starting from last bit position and add them to the vector
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uint8_t extracted_bits = (bit_buffer >> (bit_count - 8)) & 0xFF;
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eph_iono_vector.push_back(extracted_bits);
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// Remove the extracted bits from the buffer
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bit_count -= 8;
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bit_buffer = bit_buffer & ~(0xFF << bit_count);
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}
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}
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// If there are any bits left in the buffer, add them to the vector
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if (bit_count > 0)
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{
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eph_iono_vector.push_back(static_cast<uint8_t>(bit_buffer));
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}
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}
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void NavData::generate_utc_vector()
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{
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utc_vector.clear();
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uint64_t bit_buffer = 0;
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int bit_count = 0;
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std::vector<std::pair<void*, int>> variables = {
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{static_cast<void*>(&UtcData.A0), sizeof(UtcData.A0) * 8},
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{static_cast<void*>(&UtcData.A1), sizeof(UtcData.A1) * 8},
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{static_cast<void*>(&UtcData.Delta_tLS), sizeof(UtcData.Delta_tLS) * 8},
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{static_cast<void*>(&UtcData.tot), sizeof(UtcData.tot) * 8},
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{static_cast<void*>(&UtcData.WNot), sizeof(UtcData.WNot) * 8},
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{static_cast<void*>(&UtcData.WN_LSF), sizeof(UtcData.WN_LSF) * 8},
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{static_cast<void*>(&UtcData.DN), sizeof(UtcData.DN) * 8},
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{static_cast<void*>(&UtcData.Delta_tLSF), sizeof(UtcData.Delta_tLSF) * 8},
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{static_cast<void*>(&UtcData.A_0G), sizeof(UtcData.A_0G) * 8},
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{static_cast<void*>(&UtcData.A_1G), sizeof(UtcData.A_1G) * 8},
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{static_cast<void*>(&UtcData.t_0G), sizeof(UtcData.t_0G) * 8},
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{static_cast<void*>(&UtcData.WN_0G), sizeof(UtcData.WN_0G) * 8},
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};
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for (auto& var : variables)
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{
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uint64_t binary_representation;
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memcpy(&binary_representation, var.first, var.second / 8);
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bit_buffer = (bit_buffer << var.second) | binary_representation;
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bit_count += var.second;
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while (bit_count >= 8)
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{
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uint8_t extracted_bits = (bit_buffer >> (bit_count - 8)) & 0xFF;
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utc_vector.push_back(extracted_bits);
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bit_count -= 8;
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bit_buffer = bit_buffer & ~(0xFF << bit_count);
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}
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}
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if (bit_count > 0)
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{
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utc_vector.push_back(static_cast<uint8_t>(bit_buffer));
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}
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}
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std::vector<uint8_t> NavData::get_eph_iono_vector()
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{
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return ephemeris_iono_vector;
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}
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std::vector<uint8_t> NavData::get_utc_vector()
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{
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return utc_vector;
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}
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@ -18,6 +18,9 @@
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#ifndef GNSS_SDR_OSNMA_DATA_H
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#define GNSS_SDR_OSNMA_DATA_H
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#include "galileo_ephemeris.h"
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#include "galileo_iono.h"
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#include "galileo_utc_model.h"
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#include <array>
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#include <cstdint>
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#include <string>
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@ -119,6 +122,24 @@ public:
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std::vector<uint8_t> key;
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};
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class NavData
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{
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public:
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NavData() = default;
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Galileo_Ephemeris EphemerisData;
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Galileo_Iono IonoData;
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Galileo_Utc_Model UtcData;
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void generate_eph_iono_vector(); // TODO check with Carles procedure and compare with v2
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void generate_eph_iono_vector2();
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void generate_utc_vector(); // TODO
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std::vector<uint8_t> get_eph_iono_vector(); // TODO
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std::vector<uint8_t> get_utc_vector(); // TODO
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private:
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std::vector<uint8_t> ephemeris_iono_vector;
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std::vector<uint8_t> utc_vector;
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};
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/*!
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* \brief This class handles ONSMA data
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* See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_OSNMA_User_ICD_for_Test_Phase_v1.0.pdf
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@ -132,6 +153,7 @@ public:
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DSM_PKR_message d_dsm_pkr_message;
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DSM_KROOT_message d_dsm_kroot_message;
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MACK_message d_mack_message;
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NavData d_nav_data;
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};
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