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Remove build and data folders, move tests and utils to the base of the source tree

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This commit is contained in:
Carles Fernandez
2024-10-04 11:55:09 +02:00
parent 5be2971c9b
commit 825037592a
251 changed files with 154 additions and 179 deletions
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57
utils/nav-listener/CMakeLists.txt Normal file
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# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2021 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
cmake_minimum_required(VERSION 3.9...3.30)
project(nav-msg-listener CXX)
set(CMAKE_CXX_STANDARD 11)
set(NAVLISTENER_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}) # allows this to be a sub-project
set(NAVLISTENER_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
set(Boost_USE_STATIC_LIBS OFF)
find_package(Boost COMPONENTS system REQUIRED)
find_package(Protobuf REQUIRED)
if(${Protobuf_VERSION} VERSION_LESS "3.0.0")
message(FATAL_ERROR "Fatal error: Protocol Buffers >= v3.0.0 required.")
endif()
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${NAVLISTENER_SOURCE_DIR}/nav_message.proto)
add_library(navmsg_lib ${NAVLISTENER_SOURCE_DIR}/nav_msg_udp_listener.cc ${PROTO_SRCS})
target_link_libraries(navmsg_lib
PUBLIC
Boost::boost
Boost::system
protobuf::libprotobuf
)
target_include_directories(navmsg_lib
PUBLIC
${NAVLISTENER_BINARY_DIR}
)
add_executable(nav_msg_listener ${NAVLISTENER_SOURCE_DIR}/main.cc)
target_link_libraries(nav_msg_listener PUBLIC navmsg_lib)
install(TARGETS nav_msg_listener
RUNTIME DESTINATION bin
COMPONENT "nav_msg_listener"
)
if(NOT TARGET uninstall)
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY
)
add_custom_target(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
)
endif()

103
utils/nav-listener/README.md Normal file
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<!-- prettier-ignore-start -->
[comment]: # (
SPDX-License-Identifier: BSD-3-Clause
)
[comment]: # (
SPDX-FileCopyrightText: 2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
)
<!-- prettier-ignore-end -->
# nav_msg_listener
Simple application that retrieves decoded navigation messages produced by
GNSS-SDR and prints them in a terminal. This is only for demonstration purposes,
as a example on how to retrieve data using the `nav_message.proto` file.
# Build the software
This software requires [Boost](https://www.boost.org/) and
[Protocol Buffers](https://protobuf.dev/).
In a terminal, type:
```
$ mkdir build && cd build
$ cmake ..
$ make
```
Optionally, you can install it:
```
$ sudo make install
```
and uninstall it later with:
```
$ sudo make uninstall
```
## Usage
In order to tell GNSS-SDR to generate those messages, you need to include the
lines:
```
NavDataMonitor.enable_monitor=true
NavDataMonitor.client_addresses=127.0.0.1 ; destination IP
NavDataMonitor.port=1237 ; destination port
```
in your gnss-sdr configuration file. You can specify multiple destination
addresses, separated by underscores:
```
NavDataMonitor.client_addresses=79.154.253.31_79.154.253.32
```
Run gnss-sdr with your configuration, and at the same time, from the computer of
the client address (or another terminal from the same computer that is executing
gnss-sdr if you are using `127.0.0.1`), execute the binary as:
```
$ ./nav_msg_listener 1237
```
where `1237` needs to be the same port as in `NavDataMonitor.port`. As soon as
gnss-sdr starts to decode navigation messages, you will see them in your
terminal:
```
$ ./nav_msg_listener 1237
New Data received:
System: E
Signal: 1B
PRN: 11
TOW of last symbol [ms]: 75869044
Nav message: 000000001001010101010101010101010101010101010101010101010101010101010101010101010101010101010101010011100101110001000000
New Data received:
System: G
Signal: 1C
PRN: 16
TOW of last symbol [ms]: 75870000
Nav message: 100010111010101010101000101111000110001011001010010100011100010001000000000000000000000011010100000000101101100001000011000000000000000000000000111111101000010000110110011011000100000101111100000111100110110101000100110100100010011011101001001010011001011111111110000110000000000000000000000010001100
New Data received:
System: E
Signal: 5X
PRN: 18
TOW of last symbol [ms]: 75870260
Nav message: 0000100001111110010000010111110100011010010000100000000000000000000000000000000000000000000000000000000010101010000001001011010010100100100100100110101110110101010000100000000000000000111001011100010010100001010100001110101001001101111000000000
New Data received:
System: G
Signal: L5
PRN: 6
TOW of last symbol [ms]: 75871320
Nav message: 100010110001100011110001100010110010100111100001110100001000000110110101100101011100110111001101100001011001110110010100101110001000000010000000100000001000000010000000100000001000000010000000100000001000000010000000100000001000000010000000100000001000000010000000100000001000001010101010111110000000
```

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utils/nav-listener/cmake/cmake_uninstall.cmake.in Normal file
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# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2011-2020 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
endif()
file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
string(REGEX REPLACE "\n" ";" files "${files}")
foreach(file ${files})
message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
if(CMAKE_VERSION VERSION_LESS 3.17)
execute_process(
COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
OUTPUT_VARIABLE rm_out
RESULT_VARIABLE rm_retval
)
else()
execute_process(
COMMAND @CMAKE_COMMAND@ -E rm "$ENV{DESTDIR}${file}"
OUTPUT_VARIABLE rm_out
RESULT_VARIABLE rm_retval
)
endif()
if(NOT "${rm_retval}" STREQUAL 0)
message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
endif()
else()
message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
endif()
endforeach()

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utils/nav-listener/main.cc Normal file
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/*!
* \file main.cc
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: BSD-3-Clause
*
* -----------------------------------------------------------------------------
*/
#include "nav_msg_udp_listener.h"
#include <boost/lexical_cast.hpp>
#include <iostream>
int main(int argc, char *argv[])
{
try
{
// Check command line arguments.
if (argc != 2)
{
// Print help.
std::cerr << "Usage: nav_msg_listener <port>\n";
return 1;
}
unsigned short port = boost::lexical_cast<unsigned short>(argv[1]);
Nav_Msg_Udp_Listener udp_listener(port);
std::cout << "Listening on port " << static_cast<int>(port) << ", press Control+C to exit ...\n";
while (true)
{
gnss_sdr::navMsg message;
if (udp_listener.receive_and_parse_nav_message(message))
{
udp_listener.print_message(message);
}
else
{
std::cout << "Error: the message cannot be parsed." << std::endl;
}
}
}
catch (boost::bad_lexical_cast &)
{
std::cerr << "Error: the argument " << argv[1] << " is not a valid port number.\n";
return 1;
}
catch (std::exception &e)
{
std::cerr << e.what() << '\n';
return 1;
}
return 0;
}

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utils/nav-listener/nav_message.proto Normal file
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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: 2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
syntax = "proto3";
package gnss_sdr;
message navMsg {
string system = 1; // GNSS constellation: "G" for GPS, "R" for Glonass, "E" for Galileo, and "C" for Beidou.
string signal = 2; // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5, "5X" for Galileo E5a, and "E6" for Galileo E6B.
int32 prn = 3; // SV ID.
int32 tow_at_current_symbol_ms = 4; // Time of week of the last symbol received, in ms
string nav_message = 5; // for Galileo I/NAV: decoded half page (even or odd), 120 bits, as described in OS SIS ICD 2.0, paragraph 4.3.2.3. I/NAV Page Part.
// for Galileo F/NAV: decoded word, 244 bits, as described in OS SIS ICD 2.0, paragraph 4.2.2. F/NAV Page Layout.
// for Galileo HAS: decoded full HAS message (header + body), variable length, as described in Galileo HAS SIS ICD.
// For GPS LNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 20.3.2 Message Structure.
// For GPS CNAV: decoded subframe, 300 bits, as described in IS-GPS-200M paragraph 30.3.3 Message Content.
}

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utils/nav-listener/nav_msg_udp_listener.cc Normal file
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/*!
* \file nav_msg_udp_listener.cc
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: BSD-3-Clause
*
* -----------------------------------------------------------------------------
*/
#include "nav_msg_udp_listener.h"
#include <iostream>
#include <sstream>
#include <string>
Nav_Msg_Udp_Listener::Nav_Msg_Udp_Listener(unsigned short port)
: socket{io_service}, endpoint{boost::asio::ip::udp::v4(), port}, connected_socket(true)
{
socket.open(endpoint.protocol(), error); // Open socket
if (error)
{
std::cerr << "Error opening socket: " << error.message() << '\n';
connected_socket = false;
}
if (connected_socket)
{
socket.bind(endpoint, error); // Bind the socket to the given local endpoint.
if (error)
{
std::cerr << "Error binding socket: " << error.message() << '\n';
connected_socket = false;
}
}
}
/*
* Blocking call to read nav_message from UDP port
* return true if message parsed succesfully, false ow
*/
bool Nav_Msg_Udp_Listener::receive_and_parse_nav_message(gnss_sdr::navMsg &message)
{
if (connected_socket)
{
char buff[8192]; // Buffer for storing the received data.
// This call will block until one or more bytes of data has been received.
int bytes = socket.receive(boost::asio::buffer(buff));
std::string data(&buff[0], bytes);
// Deserialize a stock of Nav_Msg objects from the binary string.
return message.ParseFromString(data);
}
return false;
}
/*
* Prints navigation message content
* param[in] message nav message to be printed
*/
void Nav_Msg_Udp_Listener::print_message(gnss_sdr::navMsg &message) const
{
if (connected_socket)
{
std::string system = message.system();
std::string signal = message.signal();
int prn = message.prn();
int tow_at_current_symbol_ms = message.tow_at_current_symbol_ms();
std::string nav_message = message.nav_message();
std::cout << "\nNew data received:\n";
std::cout << "System: " << system << '\n';
std::cout << "Signal: " << signal << '\n';
std::cout << "PRN: " << prn << '\n';
std::cout << "TOW of last symbol [ms]: "
<< tow_at_current_symbol_ms << '\n';
std::cout << "Nav message: " << nav_message << "\n\n";
}
}

37
utils/nav-listener/nav_msg_udp_listener.h Normal file
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/*!
* \file nav_msg_udp_listener.h
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: BSD-3-Clause
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_NAV_MSG_UDP_LISTENER_H
#define GNSS_SDR_NAV_MSG_UDP_LISTENER_H
#include "nav_message.pb.h"
#include <boost/asio.hpp>
class Nav_Msg_Udp_Listener
{
public:
explicit Nav_Msg_Udp_Listener(unsigned short port);
void print_message(gnss_sdr::navMsg &message) const;
bool receive_and_parse_nav_message(gnss_sdr::navMsg &message);
private:
boost::asio::io_service io_service;
boost::asio::ip::udp::socket socket;
boost::system::error_code error;
boost::asio::ip::udp::endpoint endpoint;
bool connected_socket;
};
#endif