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Adding timetag propagation from source to telemetry decoders (currently supported by Galileo telemetry decoder)

This commit is contained in:
Javier Arribas 2021-12-03 12:56:20 +01:00
parent 6f7668dcbf
commit 91f826b5ca
5 changed files with 117 additions and 9 deletions
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15
src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc
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@ -32,6 +32,7 @@ Gnss_Sdr_Timestamp::Gnss_Sdr_Timestamp(size_t sizeof_stream_item,
d_timefile(timestamp_file),
d_clock_offset_ms(clock_offset_ms)
{
d_fraction_ms_offset = modf(d_clock_offset_ms, &d_integer_ms_offset); // optional clockoffset parameter to convert UTC timestamps to GPS time in some receiver's configuration
get_next_timetag = true;
next_timetag_samplecount = 0;
}
@ -95,26 +96,26 @@ int Gnss_Sdr_Timestamp::work(int noutput_items,
{
if (read_next_timetag() == false)
{
//std::cout << "End of TimeTag file reached!\n";
//return 0; //todo: find why return -1 does not stop gnss-sdr!
// std::cout << "End of TimeTag file reached!\n";
// return 0; // todo: find why return -1 does not stop gnss-sdr!
}
get_next_timetag = false;
}
for (size_t ch = 0; ch < output_items.size(); ch++)
{
std::memcpy(output_items[ch], input_items[ch], noutput_items * input_signature()->sizeof_stream_item(ch));
uint64_t bytes_to_samples = 2; //todo: improve this.. hardcoded 2 bytes -> 1 complex sample!
uint64_t bytes_to_samples = 2; // todo: improve this.. hardcoded 2 bytes -> 1 complex sample!
int64_t diff_samplecount = uint64diff(this->nitems_written(ch), next_timetag_samplecount * bytes_to_samples);
//std::cout << "diff_samplecount: " << diff_samplecount << ", noutput_items: " << noutput_items << "\n";
// std::cout << "diff_samplecount: " << diff_samplecount << ", noutput_items: " << noutput_items << "\n";
if (diff_samplecount <= noutput_items and std::labs(diff_samplecount) <= noutput_items)
{
const std::shared_ptr<GnssTime> tmp_obj = std::make_shared<GnssTime>(GnssTime());
tmp_obj->tow_ms = next_timetag.tow_ms;
tmp_obj->tow_ms = next_timetag.tow_ms + static_cast<int>(d_integer_ms_offset);
tmp_obj->week = next_timetag.week;
tmp_obj->tow_ms_fraction = d_clock_offset_ms; //optional clockoffset parameter to convert UTC timestamps to GPS time in some receiver's configuration
tmp_obj->tow_ms_fraction = d_fraction_ms_offset;
tmp_obj->rx_time = 0;
add_item_tag(ch, this->nitems_written(ch) - diff_samplecount, pmt::mp("timetag"), pmt::make_any(tmp_obj));
//std::cout << "[" << this->nitems_written(ch) - diff_samplecount << "] Sent TimeTag SC: " << next_timetag_samplecount * bytes_to_samples << ", Week: " << next_timetag.week << ", TOW: " << next_timetag.tow_ms << " [ms] \n";
// std::cout << "[" << this->nitems_written(ch) - diff_samplecount << "] Sent TimeTag SC: " << next_timetag_samplecount * bytes_to_samples << ", Week: " << next_timetag.week << ", TOW: " << next_timetag.tow_ms << " [ms] \n";
get_next_timetag = true;
}
}

2
src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
View File

@ -66,6 +66,8 @@ private:
std::fstream d_timefilestream;
GnssTime next_timetag;
double d_clock_offset_ms;
double d_integer_ms_offset;
double d_fraction_ms_offset;
uint64_t next_timetag_samplecount;
bool get_next_timetag;
};

81
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -685,6 +685,51 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
}
}
d_sample_counter++; // count for the processed symbols
// ******* Time Tags from signal source (optional feature) *******
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + 1); // telemetry decoder consumes symbols one-by-one
if (!tags_vec.empty())
{
for (std::vector<gr::tag_t>::iterator it = tags_vec.begin(); it != tags_vec.end(); ++it)
{
try
{
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));
// std::cout << "Old tow: " << d_current_timetag.tow_ms << " new tow: " << timetag->tow_ms << "\n";
d_current_timetag = *timetag;
d_valid_timetag = true;
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
}
}
else
{
if (d_valid_timetag == true)
{
// propagate timetag to current symbol
// todo: tag rx_time is set only in the time channel. The tracking tag does not have valid rx_time (it is not required since it is associated to the current symbol)
// d_current_timetag.rx_time+=d_PRN_code_period_ms
d_current_timetag.tow_ms += d_PRN_code_period_ms;
if (d_current_timetag.tow_ms >= 604800000)
{
d_current_timetag.tow_ms -= 604800000;
d_current_timetag.week++;
}
}
}
// ***********************************************
consume_each(1);
d_flag_preamble = false;
@ -873,6 +918,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW5() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW5_flag(false);
// timetag debug
if (d_valid_timetag == true)
{
int decoder_delay_ms = static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
int rx_tow_at_preamble = d_current_timetag.tow_ms - decoder_delay_ms;
if (rx_tow_at_preamble < 0)
{
rx_tow_at_preamble += 604800000;
}
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
std::cout << "TOW at PREAMBLE: " << d_TOW_at_Preamble_ms << " predicted TOW at preamble: " << predicted_tow_at_preamble_ms << " [ms]\n";
}
}
else if (d_inav_nav.is_TOW6_set() == true) // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
@ -881,6 +938,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW6() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW6_flag(false);
// timetag debug
if (d_valid_timetag == true)
{
int decoder_delay_ms = static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
int rx_tow_at_preamble = d_current_timetag.tow_ms - decoder_delay_ms;
if (rx_tow_at_preamble < 0)
{
rx_tow_at_preamble += 604800000;
}
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
std::cout << "TOW at PREAMBLE: " << d_TOW_at_Preamble_ms << " predicted TOW at preamble: " << predicted_tow_at_preamble_ms << " [ms]\n";
}
}
else if (d_inav_nav.is_TOW0_set() == true) // page 0 arrived and decoded
{
@ -888,6 +957,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW0() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW0_flag(false);
// timetag debug
if (d_valid_timetag == true)
{
int decoder_delay_ms = static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
int rx_tow_at_preamble = d_current_timetag.tow_ms - decoder_delay_ms;
if (rx_tow_at_preamble < 0)
{
rx_tow_at_preamble += 604800000;
}
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
std::cout << "TOW at PREAMBLE: " << d_TOW_at_Preamble_ms << " predicted TOW at preamble: " << predicted_tow_at_preamble_ms << " [ms]\n";
}
}
else
{

3
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -26,6 +26,7 @@
#include "galileo_inav_message.h" // for Galileo_Inav_Message
#include "gnss_block_interface.h" // for gnss_shared_ptr (adapts smart pointer type to GNU Radio version)
#include "gnss_satellite.h" // for Gnss_Satellite
#include "gnss_time.h" // for GnssTime
#include "nav_message_packet.h" // for Nav_Message_Packet
#include "tlm_conf.h" // for Tlm_Conf
#include <boost/circular_buffer.hpp> // for boost::circular_buffer
@ -143,6 +144,8 @@ private:
bool d_enable_navdata_monitor;
bool d_dump_crc_stats;
bool d_enable_reed_solomon_inav;
bool d_valid_timetag;
GnssTime d_current_timetag;
};

25
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -2021,8 +2021,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{
if (pmt::any_ref(it->value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
//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. 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 ";
const std::shared_ptr<GnssTime> last_timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it->value));
d_last_timetag = *last_timetag;
d_last_timetag_samplecounter = it->offset;
@ -2055,6 +2055,27 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
current_synchro_data.Flag_PLL_180_deg_phase_locked = d_Flag_PLL_180_deg_phase_locked;
*out[0] = current_synchro_data;
// generate new tag associated with gnss-synchro object
if (d_timetag_waiting == true)
{
int64_t diff_samplecount = uint64diff(current_synchro_data.Tracking_sample_counter, d_last_timetag_samplecounter);
double intpart;
d_last_timetag.tow_ms_fraction = d_last_timetag.tow_ms_fraction + modf(1000.0 * static_cast<double>(diff_samplecount) / d_trk_parameters.fs_in, &intpart);
const std::shared_ptr<GnssTime> tmp_obj = std::make_shared<GnssTime>(GnssTime());
tmp_obj->week = d_last_timetag.week;
tmp_obj->tow_ms = d_last_timetag.tow_ms + static_cast<int>(intpart);
tmp_obj->tow_ms_fraction = d_last_timetag.tow_ms_fraction;
tmp_obj->rx_time = static_cast<double>(current_synchro_data.Tracking_sample_counter) / d_trk_parameters.fs_in;
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(tmp_obj));
// std::cout << "[" << this->nitems_written(0) + 1 << "][diff_time: " << 1000.0 * static_cast<double>(diff_samplecount) / d_trk_parameters.fs_in << "] Sent TimeTag Week: " << d_last_timetag.week << ", TOW: " << d_last_timetag.tow_ms << " [ms], TOW fraction: " << d_last_timetag.tow_ms_fraction << " [ms] \n";
d_timetag_waiting = false;
}
return 1;
}
return 0;