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Fixing compile warnings and adding work on unit test

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Damian Miralles 2017-07-12 13:11:53 -07:00 committed by Damian Miralles
parent 50f133e960
commit 8a0689fbb1
7 changed files with 84 additions and 78 deletions
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5
src/core/system_parameters/GLONASS_L1_CA.h
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@ -178,7 +178,10 @@ const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}}); const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}}); const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
const std::vector<std::pair<int,int>> H_N_A({{72,5}}); const std::vector<std::pair<int,int>> H_N_A({{72,5}});
//const std::vector<std::pair<int,int>> L_N({{77,1}});
// STRING 14 FRAME 5
const std::vector<std::pair<int,int>> B1({{6,11}});
const std::vector<std::pair<int,int>> B2({{17,10}});
#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */ #endif /* GNSS_SDR_GLONASS_L1_CA_H_ */

2
src/core/system_parameters/glonass_gnav_almanac.cc
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@ -52,7 +52,7 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
d_M_n_A = 0.0; d_M_n_A = 0.0;
d_KP = 0.0; d_KP = 0.0;
d_tau_n_A = 0.0; d_tau_n_A = 0.0;
d_C_n_A = 0.0; d_C_n = 0.0;
} }
void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i) void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)

4
src/core/system_parameters/glonass_gnav_almanac.h
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@ -62,7 +62,7 @@ public:
double d_M_n_A; //!< Type of satellite n_A [dimensionless] double d_M_n_A; //!< Type of satellite n_A [dimensionless]
double d_KP; //!< Notification on forthcoming leap second correction of UTC [dimensionless] double d_KP; //!< Notification on forthcoming leap second correction of UTC [dimensionless]
double d_tau_n_A; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s] double d_tau_n_A; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s]
double d_C_n_A; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless] double d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
// satellite positions // satellite positions
double d_satpos_Xo; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km]. double d_satpos_Xo; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
@ -108,7 +108,7 @@ public:
archive & make_nvp("d_M_n_A", d_M_n_A); archive & make_nvp("d_M_n_A", d_M_n_A);
archive & make_nvp("d_KP", d_KP); archive & make_nvp("d_KP", d_KP);
archive & make_nvp("d_tau_n_A", d_tau_n_A); archive & make_nvp("d_tau_n_A", d_tau_n_A);
archive & make_nvp("d_C_n_A", d_C_n_A); archive & make_nvp("d_C_n", d_C_n);
} }
void satellite_position(double N_i, double t_i); void satellite_position(double N_i, double t_i);

138
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@ -32,6 +32,7 @@ m * \file glonass_gnav_navigation_message.cc
#include "glonass_gnav_navigation_message.h" #include "glonass_gnav_navigation_message.h"
#include <cmath> #include <cmath>
#include <iostream> #include <iostream>
#include <sstream>
#include <gnss_satellite.h> #include <gnss_satellite.h>
@ -103,7 +104,7 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
} }
bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code_bits ) bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
{ {
int sum_bits; int sum_bits;
int sum_hamming; int sum_hamming;
@ -115,66 +116,75 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
int C6 = 0; int C6 = 0;
int C7 = 0; int C7 = 0;
int C_Sigma = 0; int C_Sigma = 0;
std::bitset<GLONASS_GNAV_STRING_BITS> data = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 0, 77);
std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 77, 8);
std::istringstream dsb = std::istringstream( data.to_string() );
std::istringstream hcb = std::istringstream( hamming_code.to_string() );
std::vector<int> data_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
std::vector<int> hamming_code_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
//!< Compute C1 term //!< Compute C1 term
sum_bits = 0; sum_bits = 0;
for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size(); i++) for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
{ {
sum_bits += static_cast<int>(data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]); sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
} }
C1 = static_cast<int>(hamming_code_bits[0])^static_cast<int>(fmod(sum_bits,2)); C1 = hamming_code_bits[0]^(sum_bits%2);
//!< Compute C2 term //!< Compute C2 term
sum_bits = 0; sum_bits = 0;
for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size(); j++) for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
{ {
sum_bits += static_cast<int>data_bits[GLONASS_GNAV_CRC_J_INDEX[j]]; sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
} }
C2 = static_cast<int>(hamming_code_bits[1])^static_cast<int>(fmod(sum_bits,2)); C2 = (hamming_code_bits[1])^(sum_bits%2);
//!< Compute C3 term //!< Compute C3 term
sum_bits = 0; sum_bits = 0;
for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size(); k++) for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
{ {
sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]]; sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
} }
C3 = hamming_code_bits[2]^fmod(sum_bits,2); C3 = hamming_code_bits[2]^(sum_bits%2);
//!< Compute C4 term //!< Compute C4 term
sum_bits = 0; sum_bits = 0;
for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size(); l++) for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
{ {
sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]]; sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
} }
C4 = hamming_code_bits[3]^fmod(sum_bits,2); C4 = hamming_code_bits[3]^(sum_bits%2);
//!< Compute C5 term //!< Compute C5 term
sum_bits = 0; sum_bits = 0;
for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size(); m++) for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
{ {
sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]]; sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
} }
C5 = hamming_code_bits[4]^fmod(sum_bits,2); C5 = hamming_code_bits[4]^(sum_bits%2);
//!< Compute C6 term //!< Compute C6 term
sum_bits = 0; sum_bits = 0;
for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size(); n++) for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
{ {
sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]]; sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
} }
C6 = hamming_code_bits[5]^fmod(sum_bits,2); C6 = hamming_code_bits[5]^(sum_bits%2);
//!< Compute C7 term //!< Compute C7 term
sum_bits = 0; sum_bits = 0;
for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size(); p++) for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
{ {
sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]]; sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
} }
C7 = hamming_code_bits[6]^fmod(sum_bits,2); C7 = hamming_code_bits[6]^(sum_bits%2);
//!< Compute C_Sigma term //!< Compute C_Sigma term
sum_bits = 0; sum_bits = 0;
sum_hamming = 0; sum_hamming = 0;
for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size(); q++) for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
{ {
sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]]; sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
} }
@ -182,7 +192,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
{ {
sum_hamming += hamming_code_bits[q]; sum_hamming += hamming_code_bits[q];
} }
C_Sigma = fmod(sum_bits, 2)^fmod(sum_bits,2); C_Sigma = (sum_hamming%2)^(sum_bits%2);
//!< Verification of the data //!< Verification of the data
@ -338,12 +348,11 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
int frame_ID = 0; int frame_ID = 0;
// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE // UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string(frame_string)); std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>(std::string(frame_string));
std::bitset<GLONASS_GNAV_STRING_BITS> data_bits(std::string(frame_string), 0, 77);
std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits(std::string(frame_string), 77, 8);
string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID)); string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
_CRC_test(string_bits);
// Decode all 15 string messages // Decode all 15 string messages
switch (string_ID) switch (string_ID)
{ {
@ -355,6 +364,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)); gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT));
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)); gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N));
flag_ephemeris_str_1 = true;
break; break;
case 2: case 2:
@ -366,6 +377,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)); gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT));
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)); gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N));
flag_ephemeris_str_2 = true;
break; break;
case 3: case 3:
@ -378,6 +391,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT)); gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT));
gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N)); gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N));
flag_ephemeris_str_3 = true;
break; break;
case 4: case 4:
@ -392,25 +407,27 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N)); gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M)); gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
flag_ephemeris_str_4 = true;
break; break;
case 5: case 5:
// --- It is string 5 ---------------------------------------------- // --- It is string 5 ----------------------------------------------
// TODO signed vs unsigned reading from datasheet // TODO signed vs unsigned reading from datasheet
d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C)); gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4)); gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C)); gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
break; break;
case 6: case 6:
// --- It is string 6 ---------------------------------------------- // --- It is string 6 ----------------------------------------------
// TODO signed vs unsigned reading from datasheet // TODO signed vs unsigned reading from datasheet
i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N)); gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@ -432,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_7 = true; flag_almanac_str_7 = true;
} }
@ -442,8 +459,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 8: case 8:
// --- It is string 8 ---------------------------------------------- // --- It is string 8 ----------------------------------------------
// TODO signed vs unsigned reading from datasheet // TODO signed vs unsigned reading from datasheet
i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N)); gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@ -465,15 +482,15 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_9 = true; flag_almanac_str_9 = true;
} }
case 10: case 10:
// --- It is string 8 ---------------------------------------------- // --- It is string 8 ----------------------------------------------
// TODO signed vs unsigned reading from datasheet // TODO signed vs unsigned reading from datasheet
i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N)); gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@ -495,7 +512,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_11 = true; flag_almanac_str_11 = true;
} }
@ -503,8 +520,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 12: case 12:
// --- It is string 8 ---------------------------------------------- // --- It is string 8 ----------------------------------------------
// TODO signed vs unsigned reading from datasheet // TODO signed vs unsigned reading from datasheet
i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N)); gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@ -526,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_13 = true; flag_almanac_str_13 = true;
} }
@ -534,14 +551,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
// --- It is string 8 ---------------------------------------------- // --- It is string 8 ----------------------------------------------
if( frame_number == 5) if( frame_number == 5)
{ {
gnav_utc_model.B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1)); gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
gnav_utc_model.B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2)); gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
} }
else else
{ {
// TODO signed vs unsigned reading from datasheet // TODO signed vs unsigned reading from datasheet
i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N)); gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A)); gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
@ -565,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A)); gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N)); gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
flag_almanac_str_15 = true; flag_almanac_str_15 = true;
} }
@ -573,7 +590,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
break; break;
} // switch subframeID ... } // switch subframeID ...
return subframe_ID; return frame_ID;
} }
@ -581,7 +598,7 @@ double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corre
{ {
double t_utc; double t_utc;
t_utc = glonass_time_corrected + 3*3600 + d_tau_c; t_utc = glonass_time_corrected + 3*3600 + gnav_utc_model.d_tau_c;
return t_utc; return t_utc;
} }
@ -598,43 +615,29 @@ Glonass_Gnav_Utc_Model Glonass_Gnav_Navigation_Message::get_utc_model()
} }
Glonass_Gnav_Almanac get_almanac() Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac( int satellite_slot_number)
{ {
return gnav_almanac; return gnav_almanac[satellite_slot_number - 1];
} }
bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
{ {
bool flag_data_valid = false; bool flag_data_valid = false;
b_valid_ephemeris_set_flag = false; bool b_valid_ephemeris_set_flag = false;
// First Step:
// check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
// and check if the data have been filled (!=0)
if (d_TOW_F1 != 0 and d_TOW_F2 != 0 and d_TOW_F3 != 0)
{
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!= -1)
{
flag_data_valid = true;
b_valid_ephemeris_set_flag = true;
}
}
if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true)) if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
{ {
//if all ephemeris pages have the same IOD, then they belong to the same block //if all ephemeris pages have the same IOD, then they belong to the same block
if ((gnav_ephemeris.d_t_b == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3)) if ((gnav_ephemeris.d_t_b == 0) )
{ {
std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
flag_ephemeris_str_1 = false;// clear the flag flag_ephemeris_str_1 = false;// clear the flag
flag_ephemeris_str_2 = false;// clear the flag flag_ephemeris_str_2 = false;// clear the flag
flag_ephemeris_str_3 = false;// clear the flag flag_ephemeris_str_3 = false;// clear the flag
flag_ephemeris_str_4 = false;// clear the flag flag_ephemeris_str_4 = false;// clear the flag
flag_all_ephemeris = true; flag_all_ephemeris = true;
IOD_ephemeris = IOD_nav_1; // std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
std::cout << "Batch number: "<< IOD_ephemeris << std::endl; // std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
return true; return true;
} }
else else
@ -649,6 +652,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
{ {
bool flag_utc_model = true;
if (flag_utc_model == true) if (flag_utc_model == true)
{ {
flag_utc_model = false; // clear the flag flag_utc_model = false; // clear the flag

4
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -58,7 +58,7 @@ private:
unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter); unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter); signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter); bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code); bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
unsigned int get_frame_number(unsigned int satellite_slot_number); unsigned int get_frame_number(unsigned int satellite_slot_number);
@ -135,7 +135,7 @@ public:
/* /*
* \brief Returns a Galileo_Almanac object filled with the latest navigation data received * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
*/ */
Glonass_Gnav_Almanac get_almanac(); Glonass_Gnav_Almanac get_almanac(int satellite_slot_number);
/* /*
* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed

1
src/tests/test_main.cc
View File

@ -61,7 +61,6 @@
#include "glonass_gnav_ephemeris.h" #include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_almanac.h" #include "glonass_gnav_almanac.h"
#include "glonass_gnav_iono.h"
#include "glonass_gnav_utc_model.h" #include "glonass_gnav_utc_model.h"
using google::LogMessage; using google::LogMessage;

8
src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
View File

@ -43,18 +43,18 @@
#include "glonass_gnav_almanac.h" #include "glonass_gnav_almanac.h"
// See A 3.2.3 // See A 3.2.3
TEST(GlonassGnavEphemerisTest, SatellitePosition) TEST(GlonassGnavAlmanacTest, SatellitePosition)
{ {
double N_i = 615; // [days] double N_i = 615; // [days]
double t_i = 33300.0 // [seconds] double t_i = 33300.0; // [seconds]
double Xoi = 10947.021572; // [km] double Xoi = 10947.021572; // [km]
double Yoi = 13078.978287; // [km] double Yoi = 13078.978287; // [km]
double Zoi = 18922.063362; // [km] double Zoi = 18922.063362; // [km]
double Vxoi = -3.375497 // [m/s] double Vxoi = -3.375497; // [m/s]
double Vyoi = -0.161453; // [Кm/s] double Vyoi = -0.161453; // [Кm/s]
double Vzoi = 2.060844; // [Кm/s] double Vzoi = 2.060844; // [Кm/s]
Glonass_Gnav_Ephemeris gnav_almanac; Glonass_Gnav_Almanac gnav_almanac;
gnav_almanac.d_N_A = 615; // [days] gnav_almanac.d_N_A = 615; // [days]
gnav_almanac.d_lambda_n_A = -0.189986229; // [half cycles] gnav_almanac.d_lambda_n_A = -0.189986229; // [half cycles]