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[TAS-249][Bug][Tag] new NavDataManager causes less tags to be verified

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[TAS-234][Feature] Dummy tags verification

* Fixed the navData retrieval which caused many tags to be skipped
* Dummy tags verification added.
* Replaced direct field access with getters/setters for OSNMA navigation data.
This commit is contained in:
cesaaargm
2024-08-11 13:44:20 +02:00
parent 5a634f7332
commit 794bd61419
8 changed files with 158 additions and 83 deletions
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2
src/core/libs/gnss_crypto.h
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@@ -78,7 +78,7 @@ private:
void readPublicKeyFromPEM(const std::string& pemFilePath);
bool readPublicKeyFromCRT(const std::string& crtFilePath);
bool convert_raw_to_der_ecdsa(const std::vector<uint8_t>& raw_signature, std::vector<uint8_t>& der_signature) const;
std::vector<uint8_t> convert_from_hex_str(const std::string& input) const;
std::vector<uint8_t> convert_from_hex_str(const std::string& input) const; // TODO - deprecate if OSNMA helper is to do this operation
#if USE_GNUTLS_FALLBACK
void decompress_public_key_secp256r1(const std::vector<uint8_t>& compressed_key, std::vector<uint8_t>& x, std::vector<uint8_t>& y) const;
void decompress_public_key_secp521r1(const std::vector<uint8_t>& compressed_key, std::vector<uint8_t>& x, std::vector<uint8_t>& y) const;

28
src/core/libs/osnma_msg_receiver.cc
View File

@@ -183,8 +183,8 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
if (delta_T <= d_T_L)
{
d_tags_to_verify = {0, 4, 12};
LOG(INFO) << "Galileo OSNMA: time constraint OK ( delta_T=" << delta_T << " s)";
std::cout << "Galileo OSNMA: time constraint OK ( delta_T=" << delta_T << " s)" << std::endl;
LOG(INFO) << "Galileo OSNMA: time constraint OK (delta_T=" << delta_T << " s)";
std::cout << "Galileo OSNMA: time constraint OK (delta_T=" << delta_T << " s)" << std::endl;
}
else if (delta_T > d_T_L && delta_T <= 10 * d_T_L)
{
@@ -1067,7 +1067,18 @@ void osnma_msg_receiver::process_mack_message()
// add tag0 first
Tag tag0(*mack);
d_tags_awaiting_verify.insert(std::pair<uint32_t, Tag>(mack->TOW, tag0));
// bool ret = verify_macseq(*mack);
LOG(INFO) << "Galileo OSNMA: Add Tag0 Id= "
<< tag0.tag_id
<< ", value=0x" << std::setfill('0') << std::setw(10) << std::hex << std::uppercase
<< tag0.received_tag << std::dec
<< ", TOW="
<< tag0.TOW
<< ", ADKD="
<< static_cast<unsigned>(tag0.ADKD)
<< ", PRNa="
<< static_cast<unsigned>(tag0.PRNa)
<< ", PRNd="
<< static_cast<unsigned>(tag0.PRN_d);
std::vector<MACK_tag_and_info> macseq_verified_tags = verify_macseq_new(*mack);
for (auto& tag_and_info : macseq_verified_tags)
{
@@ -1521,11 +1532,11 @@ void osnma_msg_receiver::remove_verified_tags()
<< static_cast<unsigned>(it->second.PRNa)
<< ", PRNd="
<< static_cast<unsigned>(it->second.PRN_d)
<< ", status= "
<< ", status="
<< d_helper->verification_status_str(it->second.status);
it = d_tags_awaiting_verify.erase(it);
}
else if (it->second.skipped >= 20)
else if ((it->second.ADKD != 12 && !d_nav_data_manager->have_nav_data(it->second)) || (it->second.ADKD == 12 && (it->second.TOW + 30 * 11 < d_helper->get_TOW(d_last_verified_key_GST))))
{
LOG(INFO) << "Galileo OSNMA: Tag verification :: DELETE tag Id="
<< it->second.tag_id
@@ -1539,8 +1550,9 @@ void osnma_msg_receiver::remove_verified_tags()
<< static_cast<unsigned>(it->second.PRNa)
<< ", PRNd="
<< static_cast<unsigned>(it->second.PRN_d)
<< ", status= "
<< d_helper->verification_status_str(it->second.status);
<< ", status="
<< d_helper->verification_status_str(it->second.status)
<< ". SV out of sight / NavData unavailable.";
it = d_tags_awaiting_verify.erase(it);
}
else
@@ -1563,7 +1575,7 @@ void osnma_msg_receiver::remove_verified_tags()
<< static_cast<unsigned>(it.second.PRNa)
<< ", PRNd="
<< static_cast<unsigned>(it.second.PRN_d)
<< ", status= "
<< ", status="
<< d_helper->verification_status_str(it.second.status);
}
}

129
src/core/libs/osnma_nav_data_manager.cc
View File

@@ -33,8 +33,9 @@ void OSNMA_NavDataManager::add_navigation_data(const std::string& nav_bits, uint
if (not have_nav_data(nav_bits, PRNd, TOW))
{
d_satellite_nav_data[PRNd][TOW].add_nav_data(nav_bits);
d_satellite_nav_data[PRNd][TOW].PRNd = PRNd;
d_satellite_nav_data[PRNd][TOW].set_prn_d(PRNd);
d_satellite_nav_data[PRNd][TOW].set_tow_sf0(TOW);
d_satellite_nav_data[PRNd][TOW].set_last_received_TOW(TOW);
}
}
@@ -74,7 +75,7 @@ void OSNMA_NavDataManager::update_nav_data(const std::multimap<uint32_t, Tag>& t
// find associated OSNMA_NavData
if (tag.second.nav_data == nav_data)
{
d_satellite_nav_data[tag.second.PRN_d][tow_it.first].verified_bits += tag_size;
d_satellite_nav_data[tag.second.PRN_d][tow_it.first].set_update_verified_bits(tag_size);
}
}
}
@@ -89,10 +90,10 @@ std::vector<OSNMA_NavData> OSNMA_NavDataManager::get_verified_data()
{
for (const auto& tow_navdata : prna.second)
{
if (tow_navdata.second.verified_bits >= L_t_min)
if (tow_navdata.second.get_verified_bits() >= L_t_min)
{
result.push_back(tow_navdata.second);
d_satellite_nav_data[prna.first][tow_navdata.first].verified = true;
d_satellite_nav_data[prna.first][tow_navdata.first].set_verified_status(true);
}
}
}
@@ -129,31 +130,62 @@ bool OSNMA_NavDataManager::have_nav_data(uint32_t PRNd, uint32_t TOW, uint8_t AD
std::string OSNMA_NavDataManager::get_navigation_data(const Tag& tag) const
{
// Check if Dummy Tag, navData is all zeros
if (tag.cop == 0)
{
if (tag.ADKD == 0 || tag.ADKD == 12)
{
return std::string(549, '0');
}
else if (tag.ADKD == 4)
{
return std::string(141, '0');
}
}
auto prn_it = d_satellite_nav_data.find(tag.PRN_d);
if (prn_it == d_satellite_nav_data.end())
{
return "";
}
// satellite was found, check if TOW exists in inner map
std::map<uint32_t, OSNMA_NavData> tow_map = prn_it->second;
for (auto& tow_it : tow_map) // note: starts with smallest (i.e. oldest) navigation dataset
auto nav_data = prn_it->second.find(tag.TOW - 30);
if (nav_data != prn_it->second.end())
{
// Check if current key (TOW) fulfills condition
if ((tag.TOW - 30 * tag.cop) <= tow_it.first && tow_it.first <= tag.TOW - 30)
if (tag.ADKD == 0 || tag.ADKD == 12)
{
if (tag.ADKD == 0 || tag.ADKD == 12)
if (!nav_data->second.get_ephemeris_data().empty())
{
if (!tow_it.second.get_ephemeris_data().empty())
{
return tow_it.second.get_ephemeris_data();
}
return nav_data->second.get_ephemeris_data();
}
else if (tag.ADKD == 4)
}
else if (tag.ADKD == 4)
{
if (!nav_data->second.get_utc_data().empty())
{
if (!tow_it.second.get_utc_data().empty())
return nav_data->second.get_utc_data();
}
}
}
else
{
for (auto rev_it = prn_it->second.rbegin(); rev_it != prn_it->second.rend(); ++rev_it) // note: starts with largest (i.e. newest) navigation dataset
{
// Check if current key (TOW) fulfills condition
if ((tag.TOW - 30 * tag.cop <= rev_it->first || tag.TOW - 30 * tag.cop <= rev_it->second.get_last_received_TOW()) && rev_it->first < tag.TOW)
{
if (tag.ADKD == 0 || tag.ADKD == 12)
{
return tow_it.second.get_utc_data();
if (!rev_it->second.get_ephemeris_data().empty())
{
return rev_it->second.get_ephemeris_data();
}
}
else if (tag.ADKD == 4)
{
if (!rev_it->second.get_utc_data().empty())
{
return rev_it->second.get_utc_data();
}
}
}
}
@@ -179,7 +211,7 @@ bool OSNMA_NavDataManager::have_nav_data(const std::string& nav_bits, uint32_t P
{
if (data_timestamp.second.get_ephemeris_data() == nav_bits)
{
data_timestamp.second.update_last_received_timestamp(TOW);
data_timestamp.second.set_last_received_TOW(TOW);
return true;
}
}
@@ -187,7 +219,7 @@ bool OSNMA_NavDataManager::have_nav_data(const std::string& nav_bits, uint32_t P
{
if (data_timestamp.second.get_utc_data() == nav_bits)
{
data_timestamp.second.update_last_received_timestamp(TOW);
data_timestamp.second.set_last_received_TOW(TOW);
return true;
}
}
@@ -204,30 +236,57 @@ bool OSNMA_NavDataManager::have_nav_data(const std::string& nav_bits, uint32_t P
*/
bool OSNMA_NavDataManager::have_nav_data(const Tag& t) const
{
if (t.cop == 0)
{
return true;
}
auto prn_it = d_satellite_nav_data.find(t.PRN_d);
if (prn_it == d_satellite_nav_data.end())
{
return false;
}
// satellite was found, check if TOW exists in inner map
std::map<uint32_t, OSNMA_NavData> tow_map = prn_it->second;
for (auto& tow_it : tow_map) // note: starts with smallest (i.e. oldest) navigation dataset
// try find target TOW directly first
auto nav_data = prn_it->second.find(t.TOW - 30);
if (nav_data != prn_it->second.end())
{
// Check if current key (TOW) fulfills condition
if (t.TOW - 30 * t.cop <= tow_it.first && tow_it.first <= t.TOW - 30)
if (t.ADKD == 0 || t.ADKD == 12)
{
if (t.ADKD == 0 || t.ADKD == 12)
if (!nav_data->second.get_ephemeris_data().empty())
{
if (!tow_it.second.get_ephemeris_data().empty())
{
return true;
}
return true;
}
else if (t.ADKD == 4)
}
else if (t.ADKD == 4)
{
if (!nav_data->second.get_utc_data().empty())
{
if (!tow_it.second.get_utc_data().empty())
return true;
}
}
}
else
{
// iterate in reverse order to find matching TOW with Tag's COP value
std::map<uint32_t, OSNMA_NavData> tow_map = prn_it->second;
for (auto rev_it = tow_map.rbegin(); rev_it != tow_map.rend(); ++rev_it) // note: starts with largest (i.e. newest) navigation dataset
{
// Check if current key (TOW) fulfills cut-off point and is not received after the tag
if ((t.TOW - 30 * t.cop <= rev_it->first || t.TOW - 30 * t.cop <= rev_it->second.get_last_received_TOW()) && rev_it->first < t.TOW)
{
if (t.ADKD == 0 || t.ADKD == 12)
{
return true;
if (!rev_it->second.get_ephemeris_data().empty())
{
return true;
}
}
else if (t.ADKD == 4)
{
if (!rev_it->second.get_utc_data().empty())
{
return true;
}
}
}
}
@@ -245,17 +304,17 @@ void OSNMA_NavDataManager::log_status() const
for (const auto& nav_data : tow_data)
{
LOG(INFO) << "Galileo OSNMA: IOD_nav=0b" << std::uppercase
<< std::bitset<10>(nav_data.second.IOD_nav)
<< std::bitset<10>(nav_data.second.get_IOD_nav())
<< ", TOW_start="
<< nav_data.second.get_tow_sf0()
<< ", TOW_last="
<< nav_data.second.get_last_received_TOW()
<< ", l_t="
<< nav_data.second.verified_bits
<< nav_data.second.get_verified_bits()
<< ", PRNd="
<< nav_data.second.PRNd
<< nav_data.second.get_prn_d()
<< ", verified="
<< nav_data.second.verified;
<< nav_data.second.get_verified_status();
}
}
}

7
src/core/system_parameters/galileo_inav_message.cc
View File

@@ -1413,20 +1413,15 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
*/
OSNMA_msg Galileo_Inav_Message::get_osnma_msg()
{
// TODO - why PRN of word 4 is done separately?
nma_position_filled = std::array<int8_t, 15>{};
// Fill TOW and WN
nma_msg.WN_sf0 = WN_0;
int32_t TOW_sf0 = TOW_5 - 25; //- 24; // according to OS SIS ICD, TOW of word 5 is 25 seconds after Sf start TODO review
int32_t TOW_sf0 = TOW_5 - 25;
if (TOW_sf0 < 0)
{
TOW_sf0 += 604800;
}
nma_msg.TOW_sf0 = static_cast<uint32_t>(TOW_sf0);
// get ephemeris, clock and iono correction datn and GST-UTC and GST-GPS converstion parameters (may be incomplete)
nma_msg.EphemerisData = get_ephemeris();
nma_msg.IonoData = get_iono();
nma_msg.UtcModelData = get_utc_model();
return nma_msg;
}

13
src/core/system_parameters/galileo_inav_message.h
View File

@@ -48,16 +48,9 @@ public:
OSNMA_msg() = default;
std::array<uint32_t, 15> mack{};
std::array<uint8_t, 15> hkroot{};
uint32_t PRN{};
uint32_t WN_sf0{};
uint32_t TOW_sf0{};
std::vector<uint8_t> EphemerisClockAndStatusData{}; // TODO _2 rename and substitute this
std::string EphemerisClockAndStatusData_2{};
std::vector<uint8_t> TimingData{};
std::string TimingData_2{};
Galileo_Ephemeris EphemerisData{};
Galileo_Iono IonoData{};
Galileo_Utc_Model UtcModelData{};
uint32_t PRN{}; // PRN_a authentication data PRN
uint32_t WN_sf0{}; // Week number at the start of OSNMA subframe
uint32_t TOW_sf0{}; // TOW at the start of OSNMA subframe
};
/*!

14
src/core/system_parameters/osnma_data.cc
View File

@@ -35,25 +35,11 @@ bool OSNMA_NavData::add_nav_data(const std::string& nav_data)
}
return false;
}
std::string OSNMA_NavData::get_utc_data() const
{
return d_utc;
}
std::string OSNMA_NavData::get_ephemeris_data() const
{
return d_ephemeris_iono;
}
/**
* Updates the last TOW the NavData bits were received.
* @param TOW
*/
void OSNMA_NavData::update_last_received_timestamp(uint32_t TOW)
{
d_last_received_TOW = TOW;
}

24
src/core/system_parameters/osnma_data.h
View File

@@ -137,30 +137,36 @@ class OSNMA_NavData
public:
OSNMA_NavData() : nav_data_id(id_counter++) {}
const uint32_t nav_data_id;
std::string get_utc_data() const;
std::string get_ephemeris_data() const;
uint32_t get_verified_bits() const { return verified_bits; }
uint32_t get_prn_d() const { return PRNd; }
uint32_t get_IOD_nav() const { return IOD_nav; }
uint32_t get_last_received_TOW() const { return d_last_received_TOW; }
uint32_t get_tow_sf0() const { return d_TOW_sf0; }
bool have_this_bits(std::string nav_data);
bool get_verified_status() const { return verified; }
bool add_nav_data(const std::string& nav_data);
void set_tow_sf0(int value) { d_TOW_sf0 = value; }
void set_ephemeris_data(std::string value) { d_ephemeris_iono = value; }
void set_utc_data(std::string value) { d_utc = value; }
void update_last_received_timestamp(uint32_t TOW);
uint32_t verified_bits{0};
uint32_t IOD_nav{0};
uint32_t PRNd{0};
uint32_t ADKD{};
bool verified{false};
void set_prn_d(uint32_t value) { PRNd = value; }
void set_last_received_TOW(uint32_t TOW) { d_last_received_TOW = TOW; };
void set_update_verified_bits(uint32_t morebits) { verified_bits += morebits; }
void set_verified_status(bool value) { verified = value; }
void set_IOD_nav(uint32_t value) { IOD_nav = value; }
private:
static uint32_t id_counter;
std::string d_ephemeris_iono{""};
std::string d_utc{""};
uint32_t d_TOW_sf0{0};
uint32_t d_last_received_TOW{0};
static uint32_t id_counter;
uint32_t PRNd{0};
uint32_t verified_bits{0};
uint32_t IOD_nav{0};
bool verified{false};
};

24
src/tests/unit-tests/signal-processing-blocks/osnma/osnma_test_vectors.cc
View File

@@ -85,6 +85,12 @@ TEST_F(OsnmaTestVectors, NominalTestConf1)
ASSERT_TRUE(result);
// Assert
LOG(INFO) << "Successful tags count= " << osnma->d_count_successful_tags;
LOG(INFO) << "Failed tags count= " << osnma->d_count_failed_tags;
LOG(INFO) << "Unverified tags count= " << osnma->d_tags_awaiting_verify.size();
LOG(INFO) << "Failed Kroot count= " << osnma->d_count_failed_Kroot;
LOG(INFO) << "Failed PK count= " << osnma->d_count_failed_pubKey;
LOG(INFO) << "Failed MACSEQ count= " << osnma->d_count_failed_macseq;
ASSERT_EQ(osnma->d_count_failed_tags, 0);
ASSERT_EQ(osnma->d_count_failed_Kroot, 0);
ASSERT_EQ(osnma->d_count_failed_pubKey, 0);
@@ -113,6 +119,12 @@ TEST_F(OsnmaTestVectors, NominalTestConf2)
ASSERT_TRUE(result);
// Assert
LOG(INFO) << "Successful tags count= " << osnma->d_count_successful_tags;
LOG(INFO) << "Failed tags count= " << osnma->d_count_failed_tags;
LOG(INFO) << "Unverified tags count= " << osnma->d_tags_awaiting_verify.size();
LOG(INFO) << "Failed Kroot count= " << osnma->d_count_failed_Kroot;
LOG(INFO) << "Failed PK count= " << osnma->d_count_failed_pubKey;
LOG(INFO) << "Failed MACSEQ count= " << osnma->d_count_failed_macseq;
ASSERT_EQ(osnma->d_count_failed_tags, 0);
ASSERT_EQ(osnma->d_count_failed_Kroot, 0);
ASSERT_EQ(osnma->d_count_failed_pubKey, 0);
@@ -145,6 +157,12 @@ TEST_F(OsnmaTestVectors, PublicKeyRenewal)
ASSERT_TRUE(result);
// Assert
LOG(INFO) << "Successful tags count= " << osnma->d_count_successful_tags;
LOG(INFO) << "Failed tags count= " << osnma->d_count_failed_tags;
LOG(INFO) << "Unverified tags count= " << osnma->d_tags_awaiting_verify.size();
LOG(INFO) << "Failed Kroot count= " << osnma->d_count_failed_Kroot;
LOG(INFO) << "Failed PK count= " << osnma->d_count_failed_pubKey;
LOG(INFO) << "Failed MACSEQ count= " << osnma->d_count_failed_macseq;
ASSERT_EQ(osnma->d_count_failed_tags, 0);
ASSERT_EQ(osnma->d_count_failed_Kroot, 0);
ASSERT_EQ(osnma->d_count_failed_pubKey, 0);
@@ -176,6 +194,12 @@ TEST_F(OsnmaTestVectors, PublicKeyRevocation)
ASSERT_TRUE(result);
// Assert
LOG(INFO) << "Successful tags count= " << osnma->d_count_successful_tags;
LOG(INFO) << "Failed tags count= " << osnma->d_count_failed_tags;
LOG(INFO) << "Unverified tags count= " << osnma->d_tags_awaiting_verify.size();
LOG(INFO) << "Failed Kroot count= " << osnma->d_count_failed_Kroot;
LOG(INFO) << "Failed PK count= " << osnma->d_count_failed_pubKey;
LOG(INFO) << "Failed MACSEQ count= " << osnma->d_count_failed_macseq;
ASSERT_EQ(osnma->d_count_failed_tags, 0);
ASSERT_EQ(osnma->d_count_failed_Kroot, 0);
ASSERT_EQ(osnma->d_count_failed_pubKey, 0);