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This commit is contained in:
Javier Arribas 2022-06-14 10:44:58 +02:00
commit 84d6767a12
12 changed files with 533 additions and 570 deletions
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4
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1968,7 +1968,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code()) if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{ {
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value)); const auto timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "PVT timetag: " << timetag->rx_time << '\n'; // std::cout << "PVT timetag: " << timetag->rx_time << '\n';
d_TimeChannelTagTimestamps.push(*timetag); d_TimeChannelTagTimestamps.push(*timetag);
} }
@ -1977,7 +1977,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
std::cout << "hash code not match\n"; std::cout << "hash code not match\n";
} }
} }
catch (const boost::bad_any_cast& e) catch (const wht::bad_any_cast& e)
{ {
std::cout << "msg Bad any_cast: " << e.what(); std::cout << "msg Bad any_cast: " << e.what();
} }

64
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -73,69 +73,59 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
d_rtklib_band_index["L5"] = 2; d_rtklib_band_index["L5"] = 2;
d_rtklib_band_index["E6"] = 0; d_rtklib_band_index["E6"] = 0;
if (d_type_of_rx == 6) // E5b only switch (d_type_of_rx)
{ {
case 6: // E5b only
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 11) // GPS L1 C/A + Galileo E5b case 11: // GPS L1 C/A + Galileo E5b
{
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 15) // Galileo E1B + Galileo E5b case 15: // Galileo E1B + Galileo E5b
{
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 18) // GPS L2C + Galileo E5b case 18: // GPS L2C + Galileo E5b
{
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 19) // Galileo E5a + Galileo E5b case 19: // Galileo E5a + Galileo E5b
{
d_rtklib_band_index["5X"] = 0; d_rtklib_band_index["5X"] = 0;
d_rtklib_freq_index[0] = 2; d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 20) // GPS L5 + Galileo E5b case 20: // GPS L5 + Galileo E5b
{
d_rtklib_band_index["L5"] = 0; d_rtklib_band_index["L5"] = 0;
d_rtklib_freq_index[0] = 2; d_rtklib_freq_index[0] = 2;
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 100) // E6B only case 100: // E6B only
{
d_rtklib_freq_index[0] = 3; d_rtklib_freq_index[0] = 3;
} break;
if (d_type_of_rx == 101) // E1 + E6B case 101: // E1 + E6B
{
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
} break;
if (d_type_of_rx == 102) // E5a + E6B case 102: // E5a + E6B
{
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
} break;
if (d_type_of_rx == 103) // E5b + E6B case 103: // E5b + E6B
{
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
} break;
if (d_type_of_rx == 104) // Galileo E1B + Galileo E5a + Galileo E6B case 104: // Galileo E1B + Galileo E5a + Galileo E6B
{
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
} break;
if (d_type_of_rx == 105) // Galileo E1B + Galileo E5b + Galileo E6B case 105: // Galileo E1B + Galileo E5b + Galileo E6B
{
d_rtklib_freq_index[2] = 4; d_rtklib_freq_index[2] = 4;
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
} break;
if (d_type_of_rx == 106) // GPS L1 C/A + Galileo E1B + Galileo E6B case 106: // GPS L1 C/A + Galileo E1B + Galileo E6B
{
d_rtklib_band_index["E6"] = 1; d_rtklib_band_index["E6"] = 1;
d_rtklib_freq_index[1] = 3; d_rtklib_freq_index[1] = 3;
break;
} }
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################

1
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
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@ -34,6 +34,7 @@ target_link_libraries(obs_gr_blocks
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
Matio::matio Matio::matio
Gnuradio::pmt
) )
if(GNURADIO_USES_SPDLOG) if(GNURADIO_USES_SPDLOG)

9
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
View File

@ -26,6 +26,7 @@
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <matio.h> #include <matio.h>
#include <pmt/pmt.h>
#include <algorithm> // for std::min #include <algorithm> // for std::min
#include <array> #include <array>
#include <cmath> // for round #include <cmath> // for round
@ -694,7 +695,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{ {
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code()) if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{ {
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value)); const auto timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "[Time ch ] timetag: " << timetag->rx_time << "\n"; // std::cout << "[Time ch ] timetag: " << timetag->rx_time << "\n";
d_TimeChannelTagTimestamps.push(*timetag); d_TimeChannelTagTimestamps.push(*timetag);
} }
@ -703,7 +704,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
std::cout << "hash code not match\n"; std::cout << "hash code not match\n";
} }
} }
catch (const boost::bad_any_cast &e) catch (const wht::bad_any_cast &e)
{ {
std::cout << "msg Bad any_cast: " << e.what(); std::cout << "msg Bad any_cast: " << e.what();
} }
@ -725,7 +726,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
// { // {
// if (pmt::any_ref(it->value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code()) // if (pmt::any_ref(it->value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
// { // {
// const std::shared_ptr<GnssTime> timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it->value)); // const std::shared_ptr<GnssTime> timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it->value));
// //std::cout << "[ch " << n << "] timetag: " << timetag->rx_time << "\n"; // //std::cout << "[ch " << n << "] timetag: " << timetag->rx_time << "\n";
// d_SourceTagTimestamps.at(n).push(*timetag); // d_SourceTagTimestamps.at(n).push(*timetag);
// } // }
@ -734,7 +735,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
// std::cout << "hash code not match\n"; // std::cout << "hash code not match\n";
// } // }
// } // }
// catch (const boost::bad_any_cast &e) // catch (const wht::bad_any_cast &e)
// { // {
// std::cout << "msg Bad any_cast: " << e.what(); // std::cout << "msg Bad any_cast: " << e.what();
// } // }

1
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
View File

@ -60,6 +60,7 @@ target_link_libraries(telemetry_decoder_gr_blocks
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
Gnuradio::pmt
) )
if(GNURADIO_USES_STD_POINTERS) if(GNURADIO_USES_STD_POINTERS)

91
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -3,7 +3,7 @@
* \brief Implementation of a Galileo unified INAV and FNAV message demodulator * \brief Implementation of a Galileo unified INAV and FNAV message demodulator
* block * block
* \author Javier Arribas 2018. jarribas(at)cttc.es * \author Javier Arribas 2018. jarribas(at)cttc.es
* \author Carles Fernandez, 2021. cfernandez(at)cttc.es * \author Carles Fernandez, 2021-2022. cfernandez(at)cttc.es
* *
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -11,7 +11,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -77,7 +77,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))),
d_dump_filename(conf.dump_filename), d_dump_filename(conf.dump_filename),
d_delta_t(0), d_delta_t(0),
d_sample_counter(0ULL), d_symbol_counter(0ULL),
d_preamble_index(0ULL), d_preamble_index(0ULL),
d_last_valid_preamble(0ULL), d_last_valid_preamble(0ULL),
d_received_sample_counter(0), d_received_sample_counter(0),
@ -165,9 +165,8 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: // INAV case 1: // INAV
{
d_PRN_code_period_ms = GALILEO_E1_CODE_PERIOD_MS; // for Galileo E5b is also 4 ms
d_bits_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS; d_bits_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
d_PRN_code_period_ms = GALILEO_E1_CODE_PERIOD_MS; // for Galileo E5b is also 4 ms
// set the preamble // set the preamble
d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS; d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
d_preamble_period_symbols = GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS; d_preamble_period_symbols = GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS;
@ -184,9 +183,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_inav_nav.enable_reed_solomon(); d_inav_nav.enable_reed_solomon();
} }
break; break;
}
case 2: // FNAV case 2: // FNAV
{
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS * GALILEO_E5A_I_SECONDARY_CODE_LENGTH); d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS * GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_bits_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS; d_bits_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
// set the preamble // set the preamble
@ -200,9 +197,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_datalength = (d_codelength / nn) - d_mm; d_datalength = (d_codelength / nn) - d_mm;
d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 5; // rise alarm 100 seconds without valid tlm d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 5; // rise alarm 100 seconds without valid tlm
break; break;
}
case 3: // CNAV case 3: // CNAV
{
d_PRN_code_period_ms = GALILEO_E6_CODE_PERIOD_MS; d_PRN_code_period_ms = GALILEO_E6_CODE_PERIOD_MS;
d_bits_per_preamble = GALILEO_CNAV_PREAMBLE_LENGTH_BITS; d_bits_per_preamble = GALILEO_CNAV_PREAMBLE_LENGTH_BITS;
d_samples_per_preamble = GALILEO_CNAV_PREAMBLE_LENGTH_BITS; d_samples_per_preamble = GALILEO_CNAV_PREAMBLE_LENGTH_BITS;
@ -214,7 +209,6 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_datalength = (d_codelength / nn) - d_mm; d_datalength = (d_codelength / nn) - d_mm;
d_max_symbols_without_valid_frame = GALILEO_CNAV_SYMBOLS_PER_PAGE * 60; d_max_symbols_without_valid_frame = GALILEO_CNAV_SYMBOLS_PER_PAGE * 60;
break; break;
}
default: default:
d_bits_per_preamble = 0; d_bits_per_preamble = 0;
d_samples_per_preamble = 0; d_samples_per_preamble = 0;
@ -235,7 +229,6 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: // INAV case 1: // INAV
{
if (GALILEO_INAV_PREAMBLE[i] == '1') if (GALILEO_INAV_PREAMBLE[i] == '1')
{ {
d_preamble_samples[i] = 1; d_preamble_samples[i] = 1;
@ -245,9 +238,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_preamble_samples[i] = -1; d_preamble_samples[i] = -1;
} }
break; break;
}
case 2: // FNAV for E5a-I case 2: // FNAV for E5a-I
{
if (GALILEO_FNAV_PREAMBLE[i] == '1') if (GALILEO_FNAV_PREAMBLE[i] == '1')
{ {
d_preamble_samples[i] = 1; d_preamble_samples[i] = 1;
@ -257,9 +248,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_preamble_samples[i] = -1; d_preamble_samples[i] = -1;
} }
break; break;
}
case 3: // CNAV for E6 case 3: // CNAV for E6
{
if (GALILEO_CNAV_PREAMBLE[i] == '1') if (GALILEO_CNAV_PREAMBLE[i] == '1')
{ {
d_preamble_samples[i] = 1; d_preamble_samples[i] = 1;
@ -271,7 +260,6 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
break; break;
} }
} }
}
d_symbol_history.set_capacity(d_required_symbols + 1); d_symbol_history.set_capacity(d_required_symbols + 1);
@ -476,6 +464,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
} }
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_inav_nav.have_new_utc_model() == true) if (d_inav_nav.have_new_utc_model() == true)
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
@ -492,6 +481,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0))); d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
DLOG(INFO) << "delta_t=" << d_delta_t << "[s]"; DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
} }
if (d_inav_nav.have_new_almanac() == true) if (d_inav_nav.have_new_almanac() == true)
{ {
const std::shared_ptr<Galileo_Almanac_Helper> tmp_obj = std::make_shared<Galileo_Almanac_Helper>(d_inav_nav.get_almanac()); const std::shared_ptr<Galileo_Almanac_Helper> tmp_obj = std::make_shared<Galileo_Almanac_Helper>(d_inav_nav.get_almanac());
@ -503,7 +493,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
} }
else if (d_band == '7') else if (d_band == '7')
{ {
std::cout << "Galileo E5b I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << '\n'; std::cout << TEXT_BLUE << "Galileo E5b I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << '\n';
} }
DLOG(INFO) << "Current parameters:"; DLOG(INFO) << "Current parameters:";
DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms; DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
@ -570,12 +560,14 @@ void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n'; std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_fnav_nav.have_new_iono_and_GST() == true) if (d_fnav_nav.have_new_iono_and_GST() == true)
{ {
const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_fnav_nav.get_iono()); const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_fnav_nav.get_iono());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << '\n'; std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_fnav_nav.have_new_utc_model() == true) if (d_fnav_nav.have_new_utc_model() == true)
{ {
const std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_fnav_nav.get_utc_model()); const std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_fnav_nav.get_utc_model());
@ -637,7 +629,6 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
if (is_page_dummy != d_cnav_dummy_page) if (is_page_dummy != d_cnav_dummy_page)
{ {
d_cnav_dummy_page = is_page_dummy; d_cnav_dummy_page = is_page_dummy;
std::cout << TEXT_MAGENTA << "Receiving Galileo E6 CNAV dummy pages in channel " std::cout << TEXT_MAGENTA << "Receiving Galileo E6 CNAV dummy pages in channel "
<< d_channel << " from satellite " << d_satellite << d_channel << " from satellite " << d_satellite
<< TEXT_RESET << '\n'; << TEXT_RESET << '\n';
@ -668,7 +659,7 @@ void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite
{ {
gr::thread::scoped_lock lock(d_setlock); gr::thread::scoped_lock lock(d_setlock);
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_last_valid_preamble = d_sample_counter; d_last_valid_preamble = d_symbol_counter;
d_sent_tlm_failed_msg = false; d_sent_tlm_failed_msg = false;
d_received_tow_ms = std::numeric_limits<uint32_t>::max(); d_received_tow_ms = std::numeric_limits<uint32_t>::max();
d_E6_TOW_set = false; d_E6_TOW_set = false;
@ -693,7 +684,7 @@ void galileo_telemetry_decoder_gs::reset()
d_fnav_nav.set_flag_TOW_set(false); d_fnav_nav.set_flag_TOW_set(false);
d_inav_nav.set_flag_TOW_set(false); d_inav_nav.set_flag_TOW_set(false);
d_inav_nav.set_TOW0_flag(false); d_inav_nav.set_TOW0_flag(false);
d_last_valid_preamble = d_sample_counter; d_last_valid_preamble = d_symbol_counter;
d_sent_tlm_failed_msg = false; d_sent_tlm_failed_msg = false;
d_E6_TOW_set = false; d_E6_TOW_set = false;
d_stat = 0; d_stat = 0;
@ -761,7 +752,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// add new symbol to the symbol queue // add new symbol to the symbol queue
d_symbol_history.push_back(current_symbol.Prompt_I); d_symbol_history.push_back(current_symbol.Prompt_I);
d_sample_counter++; // count for the processed symbols d_symbol_counter++; // counter for the processed symbols
// Time Tags from signal source (optional feature) // Time Tags from signal source (optional feature)
std::vector<gr::tag_t> tags_vec; std::vector<gr::tag_t> tags_vec;
@ -774,7 +765,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{ {
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code()) if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{ {
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value)); const auto timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "Old tow: " << d_current_timetag.tow_ms << " new tow: " << timetag->tow_ms << "\n"; // std::cout << "Old tow: " << d_current_timetag.tow_ms << " new tow: " << timetag->tow_ms << "\n";
d_current_timetag = *timetag; d_current_timetag = *timetag;
d_valid_timetag = true; d_valid_timetag = true;
@ -784,7 +775,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
std::cout << "hash code not match\n"; std::cout << "hash code not match\n";
} }
} }
catch (const boost::bad_any_cast &e) catch (const wht::bad_any_cast &e)
{ {
std::cout << "msg Bad any_cast: " << e.what(); std::cout << "msg Bad any_cast: " << e.what();
} }
@ -812,7 +803,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// check if there is a problem with the telemetry of the current satellite // check if there is a problem with the telemetry of the current satellite
if (d_sent_tlm_failed_msg == false) if (d_sent_tlm_failed_msg == false)
{ {
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame) if ((d_symbol_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{ {
const int message = 1; // bad telemetry const int message = 1; // bad telemetry
DLOG(INFO) << "sent msg sat " << this->d_satellite; DLOG(INFO) << "sent msg sat " << this->d_satellite;
@ -822,12 +813,11 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
} }
// ******* frame sync ****************** // ******* frame sync ******************
int32_t corr_value = 0;
switch (d_stat) switch (d_stat)
{ {
case 0: // no preamble information case 0: // no preamble information
{
// correlate with preamble // correlate with preamble
int32_t corr_value = 0;
if (d_symbol_history.size() > d_required_symbols) if (d_symbol_history.size() > d_required_symbols)
{ {
// ******* preamble correlation ******** // ******* preamble correlation ********
@ -844,18 +834,14 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
} }
if (std::abs(corr_value) >= d_samples_per_preamble) if (std::abs(corr_value) >= d_samples_per_preamble)
{ {
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_symbol_counter; // record the preamble sample stamp
LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite << " in channel " << this->d_channel; LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite << " in channel " << this->d_channel;
d_stat = 1; // enter into frame pre-detection status d_stat = 1; // enter into frame pre-detection status
} }
} }
break; break;
}
case 1: // possible preamble lock case 1: // possible preamble lock
{
// correlate with preamble // correlate with preamble
int32_t corr_value = 0;
if (d_symbol_history.size() > d_required_symbols) if (d_symbol_history.size() > d_required_symbols)
{ {
// ******* preamble correlation ******** // ******* preamble correlation ********
@ -873,12 +859,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
if (std::abs(corr_value) >= d_samples_per_preamble) if (std::abs(corr_value) >= d_samples_per_preamble)
{ {
// check preamble separation // check preamble separation
const auto preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index); const auto preamble_diff = static_cast<int32_t>(d_symbol_counter - d_preamble_index);
if (std::abs(preamble_diff - d_preamble_period_symbols) == 0) if (std::abs(preamble_diff - d_preamble_period_symbols) == 0)
{ {
// try to decode frame // try to decode frame
DLOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite; DLOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_symbol_counter; // record the preamble sample stamp
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
if (corr_value < 0) if (corr_value < 0)
{ {
@ -900,10 +886,8 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
} }
} }
break; break;
}
case 2: // preamble acquired case 2: // preamble acquired
{ if (d_symbol_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_symbols))
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_symbols))
{ {
// call the decoder // call the decoder
// NEW Galileo page part is received // NEW Galileo page part is received
@ -944,13 +928,13 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_Tlm_CRC_Stats->update_CRC_stats(crc_ok); d_Tlm_CRC_Stats->update_CRC_stats(crc_ok);
} }
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P) d_preamble_index = d_symbol_counter; // record the preamble sample stamp (t_P)
if (crc_ok) if (crc_ok)
{ {
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work()) d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
gr::thread::scoped_lock lock(d_setlock); gr::thread::scoped_lock lock(d_setlock);
d_last_valid_preamble = d_sample_counter; d_last_valid_preamble = d_symbol_counter;
if (!d_flag_frame_sync) if (!d_flag_frame_sync)
{ {
d_flag_frame_sync = true; d_flag_frame_sync = true;
@ -983,7 +967,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
} }
break; break;
} }
}
// UPDATE GNSS SYNCHRO DATA // UPDATE GNSS SYNCHRO DATA
// 2. Add the telemetry decoder information // 2. Add the telemetry decoder information
@ -993,7 +976,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: // INAV case 1: // INAV
{
if (d_inav_nav.get_flag_TOW_set() == true) if (d_inav_nav.get_flag_TOW_set() == true)
{ {
if (d_inav_nav.is_TOW5_set() == true) // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) if (d_inav_nav.is_TOW5_set() == true) // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
@ -1089,9 +1071,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_nav_msg_packet.nav_message = ""; d_nav_msg_packet.nav_message = "";
} }
break; break;
}
case 2: // FNAV case 2: // FNAV
{
if (d_fnav_nav.get_flag_TOW_set() == true) if (d_fnav_nav.get_flag_TOW_set() == true)
{ {
if (d_fnav_nav.is_TOW1_set() == true) if (d_fnav_nav.is_TOW1_set() == true)
@ -1158,21 +1138,13 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_nav_msg_packet.nav_message = ""; d_nav_msg_packet.nav_message = "";
} }
break; break;
}
case 3: // CNAV case 3: // CNAV
{
// TODO
// Add option to use system time to estimate the preamble TOW
// Add option to use Galileo E1 or E5 TOW information..
// Done: Obtain Galileo E6 TOW from timetags, if available
if (d_valid_timetag == true) if (d_valid_timetag == true)
{ {
int rx_tow_at_preamble = d_current_timetag.tow_ms; int rx_tow_at_preamble = d_current_timetag.tow_ms;
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
d_TOW_at_Preamble_ms = predicted_tow_at_preamble_ms; d_TOW_at_Preamble_ms = predicted_tow_at_preamble_ms;
d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((d_required_symbols)*d_PRN_code_period_ms); d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * d_PRN_code_period_ms);
if (d_E6_TOW_set == false) if (d_E6_TOW_set == false)
{ {
std::cout << " Sat PRN " << d_satellite.get_PRN() << " E6 TimeTag TOW at preamble: " << predicted_tow_at_preamble_ms std::cout << " Sat PRN " << d_satellite.get_PRN() << " E6 TimeTag TOW at preamble: " << predicted_tow_at_preamble_ms
@ -1191,7 +1163,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_E6_TOW_set = true; d_E6_TOW_set = true;
} }
} }
if (d_E6_TOW_set && d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty()) if (d_enable_navdata_monitor && d_E6_TOW_set && !d_nav_msg_packet.nav_message.empty())
{ {
d_nav_msg_packet.system = std::string(1, current_symbol.System); d_nav_msg_packet.system = std::string(1, current_symbol.System);
d_nav_msg_packet.signal = std::string(current_symbol.Signal); d_nav_msg_packet.signal = std::string(current_symbol.Signal);
@ -1203,29 +1175,23 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
} }
} }
} }
}
else // if there is not a new preamble, we define the TOW of the current symbol else // if there is not a new preamble, we define the TOW of the current symbol
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: // INAV case 1: // INAV
{
if (d_inav_nav.get_flag_TOW_set() == true) if (d_inav_nav.get_flag_TOW_set() == true)
{ {
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms; d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
} }
break; break;
}
case 2: // FNAV case 2: // FNAV
{
if (d_fnav_nav.get_flag_TOW_set() == true) if (d_fnav_nav.get_flag_TOW_set() == true)
{ {
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms; d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
} }
break; break;
}
case 3: // CNAV case 3: // CNAV
{
if (d_E6_TOW_set == true) if (d_E6_TOW_set == true)
{ {
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms; d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
@ -1233,41 +1199,32 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
break; break;
} }
} }
}
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: // INAV case 1: // INAV
{
if (d_inav_nav.get_flag_TOW_set() == true) if (d_inav_nav.get_flag_TOW_set() == true)
{ {
if (d_inav_nav.get_flag_GGTO() == true) // all GGTO parameters arrived if (d_inav_nav.get_flag_GGTO() == true) // all GGTO parameters arrived
{ {
d_delta_t = d_inav_nav.get_A0G() + d_inav_nav.get_A1G() * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_inav_nav.get_t0G() + 604800.0 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - d_inav_nav.get_WN0G()), 64.0))); d_delta_t = d_inav_nav.get_A0G() + d_inav_nav.get_A1G() * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_inav_nav.get_t0G() + 604800.0 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - d_inav_nav.get_WN0G()), 64.0)));
} }
current_symbol.Flag_valid_word = true; current_symbol.Flag_valid_word = true;
} }
break; break;
}
case 2: // FNAV case 2: // FNAV
{
if (d_fnav_nav.get_flag_TOW_set() == true) if (d_fnav_nav.get_flag_TOW_set() == true)
{ {
current_symbol.Flag_valid_word = true; current_symbol.Flag_valid_word = true;
} }
break; break;
}
case 3: // CNAV case 3: // CNAV
{
if (d_E6_TOW_set == true) if (d_E6_TOW_set == true)
{ {
current_symbol.Flag_valid_word = true; current_symbol.Flag_valid_word = true;
} }
break; break;
} }
}
if (current_symbol.Flag_valid_word == true) if (current_symbol.Flag_valid_word == true)
{ {

7
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -3,7 +3,7 @@
* \brief Implementation of a Galileo unified INAV and FNAV message demodulator * \brief Implementation of a Galileo unified INAV and FNAV message demodulator
* block * block
* \author Javier Arribas 2018. jarribas(at)cttc.es * \author Javier Arribas 2018. jarribas(at)cttc.es
* \author Carles Fernandez, 2021. cfernandez(at)cttc.es * \author Carles Fernandez, 2021-2022. cfernandez(at)cttc.es
* *
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -11,7 +11,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -72,7 +72,6 @@ public:
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) override; gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) override;
private: private:
friend galileo_telemetry_decoder_gs_sptr galileo_make_telemetry_decoder_gs( friend galileo_telemetry_decoder_gs_sptr galileo_make_telemetry_decoder_gs(
const Gnss_Satellite &satellite, const Gnss_Satellite &satellite,
@ -110,7 +109,7 @@ private:
double d_delta_t; // GPS-GALILEO time offset double d_delta_t; // GPS-GALILEO time offset
uint64_t d_sample_counter; uint64_t d_symbol_counter;
uint64_t d_preamble_index; uint64_t d_preamble_index;
uint64_t d_last_valid_preamble; uint64_t d_last_valid_preamble;
uint64_t d_received_sample_counter; uint64_t d_received_sample_counter;

12
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -51,6 +51,13 @@ auto rotl = [](uint32_t x, uint32_t n) { return (((x) << (n)) ^ ((x) >> (32 - (n
} // namespace my_rotl } // namespace my_rotl
#endif #endif
#if PMT_USES_BOOST_ANY
#include <boost/any.hpp>
namespace wht = boost;
#else
#include <any>
namespace wht = std;
#endif
gps_l1_ca_telemetry_decoder_gs_sptr gps_l1_ca_telemetry_decoder_gs_sptr
gps_l1_ca_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf) gps_l1_ca_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf)
@ -605,7 +612,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{ {
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code()) if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{ {
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value)); const auto timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "[" << this->nitems_written(0) + 1 << "] TLM RX TimeTag Week: " << timetag->week << ", TOW: " << timetag->tow_ms << " [ms], TOW fraction: " << timetag->tow_ms_fraction // std::cout << "[" << this->nitems_written(0) + 1 << "] TLM RX TimeTag Week: " << timetag->week << ", TOW: " << timetag->tow_ms << " [ms], TOW fraction: " << timetag->tow_ms_fraction
// << " [ms], DELTA TLM TOW: " << static_cast<double>(timetag->tow_ms - current_symbol.TOW_at_current_symbol_ms) + timetag->tow_ms_fraction << " [ms] \n"; // << " [ms], DELTA TLM TOW: " << static_cast<double>(timetag->tow_ms - current_symbol.TOW_at_current_symbol_ms) + timetag->tow_ms_fraction << " [ms] \n";
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(timetag)); add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(timetag));
@ -615,12 +622,11 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
std::cout << "hash code not match\n"; std::cout << "hash code not match\n";
} }
} }
catch (const boost::bad_any_cast &e) catch (const wht::bad_any_cast &e)
{ {
std::cout << "msg Bad any_cast: " << e.what(); std::cout << "msg Bad any_cast: " << e.what();
} }
} }
if (d_dump == true) if (d_dump == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -2024,7 +2024,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{ {
// std::cout << "ch[" << d_acquisition_gnss_synchro->Channel_ID << "] tracking time tag with offset " << it->offset << " vs. counter " << d_sample_counter << " vs. nread " << this->nitems_read(0) << " containing "; // std::cout << "ch[" << d_acquisition_gnss_synchro->Channel_ID << "] tracking time tag with offset " << it->offset << " vs. counter " << d_sample_counter << " vs. nread " << this->nitems_read(0) << " containing ";
// std::cout << "ch[" << d_acquisition_gnss_synchro->Channel_ID << "] tracking time tag with offset " << it->offset << " vs. nread " << this->nitems_read(0) << " containing "; // std::cout << "ch[" << d_acquisition_gnss_synchro->Channel_ID << "] tracking time tag with offset " << it->offset << " vs. nread " << this->nitems_read(0) << " containing ";
const auto last_timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value)); const auto last_timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
d_last_timetag = *last_timetag; d_last_timetag = *last_timetag;
d_last_timetag_samplecounter = it.offset; d_last_timetag_samplecounter = it.offset;
d_timetag_waiting = true; d_timetag_waiting = true;
@ -2034,7 +2034,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
std::cout << "hash code not match\n"; std::cout << "hash code not match\n";
} }
} }
catch (const boost::bad_any_cast &e) catch (const wht::bad_any_cast &e)
{ {
std::cout << "msg Bad any_cast: " << e.what(); std::cout << "msg Bad any_cast: " << e.what();
} }

1
src/core/libs/CMakeLists.txt
View File

@ -83,6 +83,7 @@ endif()
target_link_libraries(core_libs target_link_libraries(core_libs
PUBLIC PUBLIC
Boost::headers
Gnuradio::blocks Gnuradio::blocks
Gnuradio::runtime Gnuradio::runtime
Gnuradio::pmt Gnuradio::pmt

11
src/core/libs/gnss_sdr_sample_counter.cc
View File

@ -27,6 +27,13 @@
#include <string> // for string #include <string> // for string
#include <vector> #include <vector>
#if PMT_USES_BOOST_ANY
#include <boost/any.hpp>
namespace wht = boost;
#else
#include <any>
namespace wht = std;
#endif
gnss_sdr_sample_counter::gnss_sdr_sample_counter( gnss_sdr_sample_counter::gnss_sdr_sample_counter(
double _fs, double _fs,
@ -156,7 +163,7 @@ int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
{ {
// recompute timestamp to match the last sample in the consumed samples in this batch // recompute timestamp to match the last sample in the consumed samples in this batch
int64_t diff_samplecount = uint64diff(out[0].Tracking_sample_counter, it.offset); int64_t diff_samplecount = uint64diff(out[0].Tracking_sample_counter, it.offset);
const auto last_timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value)); const auto last_timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
double intpart; double intpart;
last_timetag->tow_ms_fraction += modf(1000.0 * static_cast<double>(diff_samplecount) / fs, &intpart); last_timetag->tow_ms_fraction += modf(1000.0 * static_cast<double>(diff_samplecount) / fs, &intpart);
@ -172,7 +179,7 @@ int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
std::cout << "hash code not match\n"; std::cout << "hash code not match\n";
} }
} }
catch (const boost::bad_any_cast &e) catch (const wht::bad_any_cast &e)
{ {
std::cout << "msg Bad any_cast: " << e.what(); std::cout << "msg Bad any_cast: " << e.what();
} }

2
src/main/main.cc
View File

@ -67,7 +67,7 @@ int main(int argc, char** argv)
{ {
const std::string intro_help( const std::string intro_help(
std::string("\nGNSS-SDR is an Open Source GNSS Software Defined Receiver\n") + std::string("\nGNSS-SDR is an Open Source GNSS Software Defined Receiver\n") +
"Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)\n" + "Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)\n" +
"This program comes with ABSOLUTELY NO WARRANTY;\n" + "This program comes with ABSOLUTELY NO WARRANTY;\n" +
"See COPYING file to see a copy of the General Public License\n \n"); "See COPYING file to see a copy of the General Public License\n \n");