mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-11-29 21:35:16 +00:00
Remove build and data folders, move tests and utils to the base of the source tree
This commit is contained in:
Carles Fernandez
@@ -0,0 +1,242 @@
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/*!
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* \file galileo_fnav_inav_decoder_test.cc
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* \brief This class implements the unit test for the Galileo FNAV and INAV frames
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* according to the Galileo ICD
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* \author Javier Arribas, 2018. jarribas(at)cttc.es
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*
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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) 2012-2020 (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 "galileo_fnav_message.h"
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#include "galileo_inav_message.h"
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#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
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#include "viterbi_decoder.h"
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#include <gtest/gtest.h>
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#include <algorithm> // for copy
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#include <array>
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#include <chrono>
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#include <exception>
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#include <iterator> // for std::back_inserter
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#include <string>
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#include <unistd.h>
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#include <utility>
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class Galileo_FNAV_INAV_test : public ::testing::Test
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{
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public:
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Galileo_FNAV_INAV_test()
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{
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viterbi_fnav = std::make_unique<Viterbi_Decoder>(KK, nn, ((488 / nn) - mm), g_encoder);
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viterbi_inav = std::make_unique<Viterbi_Decoder>(KK, nn, ((240 / nn) - mm), g_encoder);
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flag_even_word_arrived = 0;
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}
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~Galileo_FNAV_INAV_test() = default;
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Galileo_Inav_Message INAV_decoder;
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Galileo_Fnav_Message FNAV_decoder;
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const int32_t nn = 2; // Coding rate 1/n
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const int32_t KK = 7; // Constraint Length
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const int32_t mm = KK - 1;
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const std::array<int32_t, 2> g_encoder{{121, 91}};
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std::unique_ptr<Viterbi_Decoder> viterbi_fnav;
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std::unique_ptr<Viterbi_Decoder> viterbi_inav;
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int32_t flag_even_word_arrived;
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void deinterleaver(int32_t rows, int32_t cols, const float *in, float *out)
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{
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for (int32_t r = 0; r < rows; r++)
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{
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for (int32_t c = 0; c < cols; c++)
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{
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out[c * rows + r] = in[r * cols + c];
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}
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}
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}
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bool decode_INAV_word(float *page_part_symbols, int32_t frame_length)
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{
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// 1. De-interleave
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std::vector<float> page_part_symbols_deint = std::vector<float>(frame_length / 2);
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std::copy(&page_part_symbols[0], &page_part_symbols[frame_length / 2], std::back_inserter(page_part_symbols_deint));
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deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint.data());
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// 2. Viterbi decoder
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// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
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// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
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for (int32_t i = 0; i < frame_length; i++)
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{
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if ((i + 1) % 2 == 0)
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{
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page_part_symbols_deint[i] = -page_part_symbols_deint[i];
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}
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}
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std::vector<int32_t> page_part_bits = std::vector<int32_t>(frame_length / 2);
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viterbi_inav->decode(page_part_bits, page_part_symbols_deint);
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// 3. Call the Galileo page decoder
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std::string page_String;
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for (int32_t i = 0; i < (frame_length / 2); i++)
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{
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if (page_part_bits[i] > 0)
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{
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page_String.push_back('1');
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}
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else
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{
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page_String.push_back('0');
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}
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}
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bool crc_ok = false;
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if (page_part_bits[0] == 1)
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{
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// DECODE COMPLETE WORD (even + odd) and TEST CRC
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INAV_decoder.split_page(std::move(page_String), flag_even_word_arrived);
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if (INAV_decoder.get_flag_CRC_test() == true)
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{
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crc_ok = true;
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}
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flag_even_word_arrived = 0;
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}
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else
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{
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// STORE HALF WORD (even page)
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INAV_decoder.split_page(page_String.c_str(), flag_even_word_arrived);
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flag_even_word_arrived = 1;
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}
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return crc_ok;
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}
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bool decode_FNAV_word(float *page_symbols, int32_t frame_length)
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{
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// 1. De-interleave
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std::vector<float> page_symbols_deint = std::vector<float>(frame_length);
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std::copy(&page_symbols[0], &page_symbols[frame_length / 2], std::back_inserter(page_symbols_deint));
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deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint.data());
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// 2. Viterbi decoder
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// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
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// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180
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for (int32_t i = 0; i < frame_length; i++)
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{
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if ((i + 1) % 2 == 0)
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{
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page_symbols_deint[i] = -page_symbols_deint[i];
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}
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}
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std::vector<int32_t> page_bits = std::vector<int32_t>(frame_length);
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viterbi_fnav->decode(page_bits, page_symbols_deint);
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// 3. Call the Galileo page decoder
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std::string page_String;
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for (int32_t i = 0; i < frame_length; i++)
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{
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if (page_bits[i] > 0)
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{
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page_String.push_back('1');
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}
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else
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{
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page_String.push_back('0');
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}
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}
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// DECODE COMPLETE WORD (even + odd) and TEST CRC
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FNAV_decoder.split_page(page_String);
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if (FNAV_decoder.get_flag_CRC_test() == true)
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{
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return true;
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}
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return false;
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}
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};
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TEST_F(Galileo_FNAV_INAV_test, ValidationOfResults)
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{
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std::chrono::time_point<std::chrono::system_clock> start, end;
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std::chrono::duration<double> elapsed_seconds(0);
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start = std::chrono::system_clock::now();
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int repetitions = 10;
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// FNAV FULLY ENCODED FRAME
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float FNAV_frame[488] = {-1, 1, -1, -1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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1, -1, -1, 1, -1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1,
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-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, 1, -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, 1, -1, 1, -1,
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-1, 1, 1, -1, 1, 1, 1, 1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, 1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1,
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-1, -1, -1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, 1, 1,
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-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1,
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-1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, -1, -1, -1, -1, 1, -1, -1, 1, 1, 1, 1, 1, 1, -1,
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-1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, 1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, -1, 1, 1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, -1, 1, 1, -1,
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1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
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-1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1,
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1, -1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, -1,
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-1, 1, -1, -1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
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1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, -1, -1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
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1, -1, 1, -1, -1, 1, 1, 1, -1, -1, 1, -1, 1, 1};
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ASSERT_NO_THROW({
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for (int n = 0; n < repetitions; n++)
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{
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EXPECT_EQ(decode_FNAV_word(&FNAV_frame[0], 488), true);
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}
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}) << "Exception during FNAV frame decoding";
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// INAV FULLY ENCODED FRAME
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float INAV_frame_even[240] = {-1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 1,
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-1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, -1, 1, -1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, -1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, 1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, 1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
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1, -1, 1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1,
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-1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1};
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float INAV_frame_odd[240] = {1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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1, 1, 1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, 1, -1, 1,
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1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1,
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-1, -1, 1, 1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
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1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
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-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1,
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1, -1, 1, -1, -1, -1, 1, 1, -1, -1, 1, -1, 1, 1, -1, -1,
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-1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, 1, -1, 1,
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1, 1, -1, 1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, -1, 1,
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-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1,
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-1, -1, 1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1,
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1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, -1, -1, -1, -1, 1, 1, -1, -1, 1, 1};
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ASSERT_NO_THROW({
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for (int n = 0; n < repetitions; n++)
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{
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decode_INAV_word(&INAV_frame_even[0], 240);
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EXPECT_EQ(decode_INAV_word(&INAV_frame_odd[0], 240), true);
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}
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}) << "Exception during INAV frame decoding";
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end = std::chrono::system_clock::now();
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elapsed_seconds = end - start;
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std::cout << "Galileo INAV/FNAV CRC and Viterbi decoder test completed in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
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}
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@@ -0,0 +1,518 @@
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/*!
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* \file gps_l1_ca_dll_pll_tracking_test.cc
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* \brief This class implements a telemetry decoder test for GPS_L1_CA_Telemetry_Decoder
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* implementation based on some input parameters.
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* \author Javier Arribas, 2015. jarribas(at)cttc.es
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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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*
|
||||
* Copyright (C) 2012-2020 (see AUTHORS file for a list of contributors)
|
||||
* 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 <armadillo>
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/top_block.h>
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#include <chrono>
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#include <exception>
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#include <iomanip>
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#include <string>
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#include <unistd.h>
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#include <utility>
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#ifdef GR_GREATER_38
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#include <gnuradio/analog/sig_source.h>
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#else
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#include <gnuradio/analog/sig_source_c.h>
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#endif
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#include "GPS_L1_CA.h"
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#include "gnss_block_interface.h"
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#include "gnss_synchro.h"
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#include "gps_l1_ca_dll_pll_tracking.h"
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#include "gps_l1_ca_telemetry_decoder.h"
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#include "in_memory_configuration.h"
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#include "signal_generator_flags.h"
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#include "telemetry_decoder_interface.h"
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#include "tlm_dump_reader.h"
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#include "tracking_dump_reader.h"
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#include "tracking_interface.h"
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#include "tracking_true_obs_reader.h"
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#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
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#include <gnuradio/blocks/null_sink.h>
|
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#include <gnuradio/blocks/skiphead.h>
|
||||
#include <gtest/gtest.h>
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||||
#include <pmt/pmt.h>
|
||||
|
||||
#if HAS_GENERIC_LAMBDA
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||||
#else
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||||
#include <boost/bind/bind.hpp>
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#endif
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||||
#if PMT_USES_BOOST_ANY
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namespace wht = boost;
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#else
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namespace wht = std;
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||||
#endif
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// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
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class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
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using GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr = gnss_shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx>;
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
|
||||
|
||||
class GpsL1CADllPllTelemetryDecoderTest_msg_rx : public gr::block
|
||||
{
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||||
private:
|
||||
friend GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
|
||||
void msg_handler_channel_events(const pmt::pmt_t msg);
|
||||
GpsL1CADllPllTelemetryDecoderTest_msg_rx();
|
||||
|
||||
public:
|
||||
int rx_message;
|
||||
~GpsL1CADllPllTelemetryDecoderTest_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make()
|
||||
{
|
||||
return GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_msg_rx());
|
||||
}
|
||||
|
||||
void GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
int64_t message = pmt::to_long(std::move(msg));
|
||||
rx_message = message;
|
||||
}
|
||||
catch (const wht::bad_any_cast& e)
|
||||
{
|
||||
LOG(WARNING) << "msg_handler_channel_events Bad any_cast: " << e.what();
|
||||
rx_message = 0;
|
||||
}
|
||||
}
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_msg_rx::GpsL1CADllPllTelemetryDecoderTest_msg_rx() : gr::block("GpsL1CADllPllTelemetryDecoderTest_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"),
|
||||
#if HAS_GENERIC_LAMBDA
|
||||
[this](auto&& PH1) { msg_handler_channel_events(PH1); });
|
||||
#else
|
||||
#if USE_BOOST_BIND_PLACEHOLDERS
|
||||
boost::bind(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
|
||||
#else
|
||||
boost::bind(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_channel_events, this, _1));
|
||||
#endif
|
||||
#endif
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_msg_rx() = default;
|
||||
|
||||
|
||||
// ###########################################################
|
||||
|
||||
|
||||
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES #########
|
||||
class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx;
|
||||
|
||||
using GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr = std::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx>;
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
|
||||
|
||||
class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx : public gr::block
|
||||
{
|
||||
private:
|
||||
friend GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
|
||||
void msg_handler_channel_events(const pmt::pmt_t msg);
|
||||
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx();
|
||||
|
||||
public:
|
||||
int rx_message;
|
||||
~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make()
|
||||
{
|
||||
return GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx());
|
||||
}
|
||||
|
||||
void GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
int64_t message = pmt::to_long(std::move(msg));
|
||||
rx_message = message;
|
||||
}
|
||||
catch (const wht::bad_any_cast& e)
|
||||
{
|
||||
LOG(WARNING) << "msg_handler_channel_events Bad any_cast: " << e.what();
|
||||
rx_message = 0;
|
||||
}
|
||||
}
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() : gr::block("GpsL1CADllPllTelemetryDecoderTest_tlm_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"),
|
||||
#if HAS_GENERIC_LAMBDA
|
||||
[this](auto&& PH1) { msg_handler_channel_events(PH1); });
|
||||
#else
|
||||
boost::bind(&GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
|
||||
#endif
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() = default;
|
||||
|
||||
|
||||
// ###########################################################
|
||||
|
||||
|
||||
class GpsL1CATelemetryDecoderTest : public ::testing::Test
|
||||
{
|
||||
public:
|
||||
std::string generator_binary;
|
||||
std::string p1;
|
||||
std::string p2;
|
||||
std::string p3;
|
||||
std::string p4;
|
||||
std::string p5;
|
||||
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
|
||||
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
||||
std::string filename_raw_data = FLAGS_filename_raw_data;
|
||||
#else
|
||||
const int baseband_sampling_freq = absl::GetFlag(FLAGS_fs_gen_sps);
|
||||
std::string filename_rinex_obs = absl::GetFlag(FLAGS_filename_rinex_obs);
|
||||
std::string filename_raw_data = absl::GetFlag(FLAGS_filename_raw_data);
|
||||
#endif
|
||||
int configure_generator();
|
||||
int generate_signal();
|
||||
void check_results(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
|
||||
GpsL1CATelemetryDecoderTest()
|
||||
{
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
item_size = sizeof(gr_complex);
|
||||
gnss_synchro = Gnss_Synchro();
|
||||
}
|
||||
|
||||
~GpsL1CATelemetryDecoderTest() = default;
|
||||
|
||||
void configure_receiver();
|
||||
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
};
|
||||
|
||||
|
||||
int GpsL1CATelemetryDecoderTest::configure_generator()
|
||||
{
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
// Configure signal generator
|
||||
generator_binary = FLAGS_generator_binary;
|
||||
|
||||
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
|
||||
if (FLAGS_dynamic_position.empty())
|
||||
{
|
||||
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
|
||||
}
|
||||
else
|
||||
{
|
||||
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
||||
}
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
|
||||
#else
|
||||
// Configure signal generator
|
||||
generator_binary = absl::GetFlag(FLAGS_generator_binary);
|
||||
|
||||
p1 = std::string("-rinex_nav_file=") + absl::GetFlag(FLAGS_rinex_nav_file);
|
||||
if (absl::GetFlag(FLAGS_dynamic_position).empty())
|
||||
{
|
||||
p2 = std::string("-static_position=") + absl::GetFlag(FLAGS_static_position) + std::string(",") + std::to_string(absl::GetFlag(FLAGS_duration) * 10);
|
||||
}
|
||||
else
|
||||
{
|
||||
p2 = std::string("-obs_pos_file=") + std::string(absl::GetFlag(FLAGS_dynamic_position));
|
||||
}
|
||||
p3 = std::string("-rinex_obs_file=") + absl::GetFlag(FLAGS_filename_rinex_obs); // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + absl::GetFlag(FLAGS_filename_raw_data); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int GpsL1CATelemetryDecoderTest::generate_signal()
|
||||
{
|
||||
int child_status;
|
||||
|
||||
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], nullptr};
|
||||
|
||||
int pid;
|
||||
if ((pid = fork()) == -1)
|
||||
{
|
||||
perror("fork err");
|
||||
}
|
||||
else if (pid == 0)
|
||||
{
|
||||
execv(&generator_binary[0], parmList);
|
||||
std::cout << "Return not expected. Must be an execv err.\n";
|
||||
std::terminate();
|
||||
}
|
||||
|
||||
waitpid(pid, &child_status, 0);
|
||||
|
||||
std::cout << "Signal and Observables RINEX and RAW files created.\n";
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CATelemetryDecoderTest::configure_receiver()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
|
||||
#else
|
||||
gnss_synchro.PRN = absl::GetFlag(FLAGS_test_satellite_PRN);
|
||||
#endif
|
||||
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
||||
|
||||
// Set Tracking
|
||||
config->set_property("Tracking_1C.item_type", "gr_complex");
|
||||
config->set_property("Tracking_1C.dump", "true");
|
||||
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
|
||||
config->set_property("Tracking_1C.pll_bw_hz", "20.0");
|
||||
config->set_property("Tracking_1C.dll_bw_hz", "1.5");
|
||||
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
|
||||
config->set_property("Tracking_1C.unified", "true");
|
||||
config->set_property("TelemetryDecoder_1C.dump", "true");
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
{
|
||||
// 1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::uvec true_time_s_valid = find(true_time_s > 0);
|
||||
true_time_s = true_time_s(true_time_s_valid);
|
||||
true_value = true_value(true_time_s_valid);
|
||||
arma::uvec meas_time_s_valid = find(meas_time_s > 0);
|
||||
meas_time_s = meas_time_s(meas_time_s_valid);
|
||||
meas_value = meas_value(meas_time_s_valid);
|
||||
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
// 2. RMSE
|
||||
// arma::vec err = meas_value - true_value_interp + 0.001;
|
||||
arma::vec err = meas_value - true_value_interp; // - 0.001;
|
||||
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
// 3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
// 5. report
|
||||
std::streamsize ss = std::cout.precision();
|
||||
std::cout << std::setprecision(10) << "TLM TOW RMSE="
|
||||
<< rmse << ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var)
|
||||
<< " (max,min)=" << max_error
|
||||
<< "," << min_error
|
||||
<< " [Seconds]\n";
|
||||
std::cout.precision(ss);
|
||||
|
||||
ASSERT_LT(rmse, 0.3E-6);
|
||||
ASSERT_LT(error_mean, 0.3E-6);
|
||||
ASSERT_GT(error_mean, -0.3E-6);
|
||||
ASSERT_LT(error_var, 0.3E-6);
|
||||
ASSERT_LT(max_error, 0.5E-6);
|
||||
ASSERT_GT(min_error, -0.5E-6);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
|
||||
{
|
||||
// Configure the signal generator
|
||||
configure_generator();
|
||||
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
if (FLAGS_disable_generator == false)
|
||||
#else
|
||||
if (absl::GetFlag(FLAGS_disable_generator) == false)
|
||||
#endif
|
||||
{
|
||||
generate_signal();
|
||||
}
|
||||
|
||||
std::chrono::time_point<std::chrono::system_clock> start, end;
|
||||
std::chrono::duration<double> elapsed_seconds(0);
|
||||
|
||||
configure_receiver();
|
||||
|
||||
// open true observables log file written by the simulator
|
||||
Tracking_True_Obs_Reader true_obs_data;
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
int test_satellite_PRN = FLAGS_test_satellite_PRN;
|
||||
#else
|
||||
int test_satellite_PRN = absl::GetFlag(FLAGS_test_satellite_PRN);
|
||||
#endif
|
||||
std::cout << "Testing satellite PRN=" << test_satellite_PRN << '\n';
|
||||
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
ASSERT_NO_THROW({
|
||||
if (true_obs_data.open_obs_file(true_obs_file) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening true observables file";
|
||||
|
||||
top_block = gr::make_top_block("Telemetry_Decoder test");
|
||||
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
// std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
|
||||
auto msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
|
||||
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_NO_THROW({
|
||||
if (true_obs_data.read_binary_obs() == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure reading true observables file";
|
||||
|
||||
// restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
|
||||
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << '\n';
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD_S;
|
||||
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
std::shared_ptr<TelemetryDecoderInterface> tlm = std::make_shared<GpsL1CaTelemetryDecoder>(config.get(), "TelemetryDecoder_1C", 1, 1);
|
||||
tlm->set_channel(0);
|
||||
|
||||
std::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx> tlm_msg_rx = GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->connect(top_block);
|
||||
}) << "Failure connecting tracking to the top_block.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
std::string file = "./" + filename_raw_data;
|
||||
const char* file_name = file.c_str();
|
||||
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
|
||||
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
|
||||
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
||||
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
|
||||
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
|
||||
top_block->connect(tracking->get_right_block(), 0, tlm->get_left_block(), 0);
|
||||
top_block->connect(tlm->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks.";
|
||||
|
||||
tracking->start_tracking();
|
||||
|
||||
EXPECT_NO_THROW({
|
||||
start = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
end = std::chrono::system_clock::now();
|
||||
elapsed_seconds = end - start;
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
// check results
|
||||
// load the true values
|
||||
int64_t nepoch = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << nepoch << '\n';
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
arma::vec true_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
int64_t epoch_counter = 0;
|
||||
while (true_obs_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
// load the measured values
|
||||
Tlm_Dump_Reader tlm_dump;
|
||||
ASSERT_NO_THROW({
|
||||
if (tlm_dump.open_obs_file(std::string("./telemetry0.dat")) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening telemetry dump file";
|
||||
|
||||
nepoch = tlm_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << '\n';
|
||||
|
||||
arma::vec tlm_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec tlm_TOW_at_Preamble = arma::zeros(nepoch, 1);
|
||||
arma::vec tlm_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
epoch_counter = 0;
|
||||
while (tlm_dump.read_binary_obs())
|
||||
{
|
||||
tlm_timestamp_s(epoch_counter) = static_cast<double>(tlm_dump.Tracking_sample_counter) / static_cast<double>(baseband_sampling_freq);
|
||||
tlm_TOW_at_Preamble(epoch_counter) = tlm_dump.d_TOW_at_Preamble;
|
||||
tlm_tow_s(epoch_counter) = tlm_dump.TOW_at_current_symbol;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
// Cut measurement initial transitory of the measurements
|
||||
arma::uvec initial_meas_point = arma::find(tlm_tow_s >= true_tow_s(0), 1, "first");
|
||||
ASSERT_EQ(initial_meas_point.is_empty(), false);
|
||||
tlm_timestamp_s = tlm_timestamp_s.subvec(initial_meas_point(0), tlm_timestamp_s.size() - 1);
|
||||
tlm_tow_s = tlm_tow_s.subvec(initial_meas_point(0), tlm_tow_s.size() - 1);
|
||||
|
||||
check_results(true_timestamp_s, true_tow_s, tlm_timestamp_s, tlm_tow_s);
|
||||
|
||||
std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
|
||||
}
|
||||
Reference in New Issue
Block a user