From 936c5d5beab8e2b579a65907c16a0d5b7e2d71dc Mon Sep 17 00:00:00 2001 From: Gastd Date: Mon, 10 Jul 2017 20:53:06 -0300 Subject: [PATCH] Add unit-test for glonass pcps acquisition --- ...ss_l1_ca_pcps_acquisition_gsoc2017_test.cc | 616 ++++++++++++++++++ .../glonass_l1_ca_pcps_acquisition_test.cc | 237 +++++++ 2 files changed, 853 insertions(+) create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc new file mode 100644 index 000000000..421da60c3 --- /dev/null +++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc @@ -0,0 +1,616 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "gnss_block_interface.h" +#include "in_memory_configuration.h" +#include "configuration_interface.h" +#include "gnss_synchro.h" +#include "glonass_l1_ca_pcps_acquisition.h" +#include "signal_generator.h" +#include "signal_generator_c.h" +#include "fir_filter.h" +#include "gen_signal_source.h" +#include "gnss_sdr_valve.h" +#include "boost/shared_ptr.hpp" +#include "pass_through.h" + + +// ######## GNURADIO BLOCK MESSAGE RECEVER ######### +class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx; + +typedef boost::shared_ptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr; + +GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue& queue); + + +class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx : public gr::block +{ +private: + friend GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue& queue); + void msg_handler_events(pmt::pmt_t msg); + GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue& queue); + concurrent_queue& channel_internal_queue; +public: + int rx_message; + ~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(); //!< Default destructor +}; + + +GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(concurrent_queue& queue) +{ + return GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(queue)); +} + + +void GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events(pmt::pmt_t msg) +{ + try + { + long int message = pmt::to_long(msg); + rx_message = message; + channel_internal_queue.push(rx_message); + } + catch(boost::bad_any_cast& e) + { + LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; + rx_message = 0; + } +} + + +GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(concurrent_queue& queue) : + gr::block("GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue) +{ + this->message_port_register_in(pmt::mp("events")); + this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events, this, _1)); + rx_message = 0; +} + +GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx() +{} + + +// ########################################################### + +class GlonassL1CaPcpsAcquisitionGSoC2017Test: public ::testing::Test +{ +protected: + GlonassL1CaPcpsAcquisitionGSoC2017Test() + { + item_size = sizeof(gr_complex); + stop = false; + message = 0; + gnss_synchro = Gnss_Synchro(); + acquisition = 0; + init(); + } + + ~GlonassL1CaPcpsAcquisitionGSoC2017Test() + { + } + + void init(); + void config_1(); + void config_2(); + void start_queue(); + void wait_message(); + void process_message(); + void stop_queue(); + + concurrent_queue channel_internal_queue; + + gr::msg_queue::sptr queue; + gr::top_block_sptr top_block; + GlonassL1CaPcpsAcquisition *acquisition; + std::shared_ptr config; + Gnss_Synchro gnss_synchro; + size_t item_size; + bool stop; + int message; + boost::thread ch_thread; + + unsigned int integration_time_ms = 0; + unsigned int fs_in = 0; + + double expected_delay_chips = 0.0; + double expected_doppler_hz = 0.0; + float max_doppler_error_hz = 0.0; + float max_delay_error_chips = 0.0; + + unsigned int num_of_realizations = 0; + unsigned int realization_counter; + unsigned int detection_counter; + unsigned int correct_estimation_counter; + unsigned int acquired_samples; + unsigned int mean_acq_time_us; + + double mse_doppler; + double mse_delay; + + double Pd; + double Pfa_p; + double Pfa_a; +}; + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::init() +{ + message = 0; + realization_counter = 0; + detection_counter = 0; + correct_estimation_counter = 0; + acquired_samples = 0; + mse_doppler = 0; + mse_delay = 0; + mean_acq_time_us = 0; + Pd = 0; + Pfa_p = 0; + Pfa_a = 0; +} + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1() +{ + gnss_synchro.Channel_ID = 0; + gnss_synchro.System = 'R'; + std::string signal = "1G"; + signal.copy(gnss_synchro.Signal,2,0); + + integration_time_ms = 1; + fs_in = 4e6; + + expected_delay_chips = 600; + expected_doppler_hz = 750; + max_doppler_error_hz = 2/(3*integration_time_ms*1e-3); + max_delay_error_chips = 0.50; + + num_of_realizations = 1; + + config = std::make_shared(); + + config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in)); + + config->set_property("SignalSource.fs_hz", std::to_string(fs_in)); + + config->set_property("SignalSource.item_type", "gr_complex"); + + config->set_property("SignalSource.num_satellites", "1"); + + config->set_property("SignalSource.system_0", "G"); + config->set_property("SignalSource.PRN_0", "10"); + config->set_property("SignalSource.CN0_dB_0", "44"); + config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz)); + config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips)); + + config->set_property("SignalSource.noise_flag", "false"); + config->set_property("SignalSource.data_flag", "false"); + config->set_property("SignalSource.BW_BB", "0.97"); + + config->set_property("InputFilter.implementation", "Fir_Filter"); + config->set_property("InputFilter.input_item_type", "gr_complex"); + config->set_property("InputFilter.output_item_type", "gr_complex"); + config->set_property("InputFilter.taps_item_type", "float"); + config->set_property("InputFilter.number_of_taps", "11"); + config->set_property("InputFilter.number_of_bands", "2"); + config->set_property("InputFilter.band1_begin", "0.0"); + config->set_property("InputFilter.band1_end", "0.97"); + config->set_property("InputFilter.band2_begin", "0.98"); + config->set_property("InputFilter.band2_end", "1.0"); + config->set_property("InputFilter.ampl1_begin", "1.0"); + config->set_property("InputFilter.ampl1_end", "1.0"); + config->set_property("InputFilter.ampl2_begin", "0.0"); + config->set_property("InputFilter.ampl2_end", "0.0"); + config->set_property("InputFilter.band1_error", "1.0"); + config->set_property("InputFilter.band2_error", "1.0"); + config->set_property("InputFilter.filter_type", "bandpass"); + config->set_property("InputFilter.grid_density", "16"); + + config->set_property("Acquisition.item_type", "gr_complex"); + config->set_property("Acquisition.if", "0"); + config->set_property("Acquisition.coherent_integration_time_ms", + std::to_string(integration_time_ms)); + config->set_property("Acquisition.max_dwells", "1"); + config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition"); + config->set_property("Acquisition.threshold", "0.8"); + config->set_property("Acquisition.doppler_max", "10000"); + config->set_property("Acquisition.doppler_step", "250"); + config->set_property("Acquisition.bit_transition_flag", "false"); + config->set_property("Acquisition.dump", "false"); +} + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2() +{ + gnss_synchro.Channel_ID = 0; + gnss_synchro.System = 'R'; + std::string signal = "1G"; + signal.copy(gnss_synchro.Signal,2,0); + + integration_time_ms = 1; + fs_in = 4e6; + + expected_delay_chips = 600; + expected_doppler_hz = 750; + max_doppler_error_hz = 2/(3*integration_time_ms*1e-3); + max_delay_error_chips = 0.50; + + num_of_realizations = 100; + + config = std::make_shared(); + + config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in)); + + config->set_property("SignalSource.fs_hz", std::to_string(fs_in)); + + config->set_property("SignalSource.item_type", "gr_complex"); + + config->set_property("SignalSource.num_satellites", "4"); + + config->set_property("SignalSource.system_0", "G"); + config->set_property("SignalSource.PRN_0", "10"); + config->set_property("SignalSource.CN0_dB_0", "44"); + config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz)); + config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips)); + + config->set_property("SignalSource.system_1", "G"); + config->set_property("SignalSource.PRN_1", "15"); + config->set_property("SignalSource.CN0_dB_1", "44"); + config->set_property("SignalSource.doppler_Hz_1", "1000"); + config->set_property("SignalSource.delay_chips_1", "100"); + + config->set_property("SignalSource.system_2", "G"); + config->set_property("SignalSource.PRN_2", "21"); + config->set_property("SignalSource.CN0_dB_2", "44"); + config->set_property("SignalSource.doppler_Hz_2", "2000"); + config->set_property("SignalSource.delay_chips_2", "200"); + + config->set_property("SignalSource.system_3", "G"); + config->set_property("SignalSource.PRN_3", "22"); + config->set_property("SignalSource.CN0_dB_3", "44"); + config->set_property("SignalSource.doppler_Hz_3", "3000"); + config->set_property("SignalSource.delay_chips_3", "300"); + + config->set_property("SignalSource.noise_flag", "true"); + config->set_property("SignalSource.data_flag", "true"); + config->set_property("SignalSource.BW_BB", "0.97"); + + config->set_property("InputFilter.implementation", "Fir_Filter"); + config->set_property("InputFilter.input_item_type", "gr_complex"); + config->set_property("InputFilter.output_item_type", "gr_complex"); + config->set_property("InputFilter.taps_item_type", "float"); + config->set_property("InputFilter.number_of_taps", "11"); + config->set_property("InputFilter.number_of_bands", "2"); + config->set_property("InputFilter.band1_begin", "0.0"); + config->set_property("InputFilter.band1_end", "0.97"); + config->set_property("InputFilter.band2_begin", "0.98"); + config->set_property("InputFilter.band2_end", "1.0"); + config->set_property("InputFilter.ampl1_begin", "1.0"); + config->set_property("InputFilter.ampl1_end", "1.0"); + config->set_property("InputFilter.ampl2_begin", "0.0"); + config->set_property("InputFilter.ampl2_end", "0.0"); + config->set_property("InputFilter.band1_error", "1.0"); + config->set_property("InputFilter.band2_error", "1.0"); + config->set_property("InputFilter.filter_type", "bandpass"); + config->set_property("InputFilter.grid_density", "16"); + + config->set_property("Acquisition.item_type", "gr_complex"); + config->set_property("Acquisition.if", "0"); + config->set_property("Acquisition.coherent_integration_time_ms", + std::to_string(integration_time_ms)); + config->set_property("Acquisition.max_dwells", "1"); + config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition"); + config->set_property("Acquisition.pfa", "0.1"); + config->set_property("Acquisition.doppler_max", "10000"); + config->set_property("Acquisition.doppler_step", "250"); + config->set_property("Acquisition.bit_transition_flag", "false"); + config->set_property("Acquisition.dump", "false"); +} + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue() +{ + stop = false; + ch_thread = boost::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this); +} + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message() +{ + struct timeval tv; + long long int begin = 0; + long long int end = 0; + + while (!stop) + { + acquisition->reset(); + + gettimeofday(&tv, NULL); + begin = tv.tv_sec *1e6 + tv.tv_usec; + + channel_internal_queue.wait_and_pop(message); + + gettimeofday(&tv, NULL); + end = tv.tv_sec *1e6 + tv.tv_usec; + + mean_acq_time_us += (end-begin); + + process_message(); + } +} + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message() +{ + if (message == 1) + { + detection_counter++; + + // The term -5 is here to correct the additional delay introduced by the FIR filter + double delay_error_chips = std::abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*1023.0/((double)fs_in*1e-3)); + double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); + + mse_delay += std::pow(delay_error_chips, 2); + mse_doppler += std::pow(doppler_error_hz, 2); + + if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz)) + { + correct_estimation_counter++; + } + } + + realization_counter++; + + std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush; + + if (realization_counter == num_of_realizations) + { + mse_delay /= num_of_realizations; + mse_doppler /= num_of_realizations; + + Pd = (double)correct_estimation_counter / (double)num_of_realizations; + Pfa_a = (double)detection_counter / (double)num_of_realizations; + Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations; + + mean_acq_time_us /= num_of_realizations; + + stop_queue(); + top_block->stop(); + } +} + +void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue() +{ + stop = true; +} + +TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate) +{ + config_1(); + acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1); + delete acquisition; +} + +TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun) +{ + int nsamples = floor(fs_in*integration_time_ms*1e-3); + struct timeval tv; + long long int begin = 0; + long long int end = 0; + queue = gr::msg_queue::make(0); + top_block = gr::make_top_block("Acquisition test"); + + config_1(); + acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1); + boost::shared_ptr msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue); + + ASSERT_NO_THROW( { + acquisition->connect(top_block); + boost::shared_ptr source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0)); + boost::shared_ptr valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue); + top_block->connect(source, 0, valve, 0); + top_block->connect(valve, 0, acquisition->get_left_block(), 0); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting the blocks of acquisition test."<< std::endl; + + EXPECT_NO_THROW( { + gettimeofday(&tv, NULL); + begin = tv.tv_sec *1e6 + tv.tv_usec; + top_block->run(); // Start threads and wait + gettimeofday(&tv, NULL); + end = tv.tv_sec *1e6 + tv.tv_usec; + }) << "Failure running the top_block."<< std::endl; + + std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl; + + delete acquisition; +} + +TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults) +{ + config_1(); + queue = gr::msg_queue::make(0); + top_block = gr::make_top_block("Acquisition test"); + + acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1); + boost::shared_ptr msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue); + + ASSERT_NO_THROW( { + acquisition->set_channel(1); + }) << "Failure setting channel."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_gnss_synchro(&gnss_synchro); + }) << "Failure setting gnss_synchro."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_doppler_max(10000); + }) << "Failure setting doppler_max."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_doppler_step(500); + }) << "Failure setting doppler_step."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_threshold(0.5); + }) << "Failure setting threshold."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->connect(top_block); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting acquisition to the top_block."<< std::endl; + + acquisition->init(); + + ASSERT_NO_THROW( { + boost::shared_ptr signal_source; + SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue); + FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1); + signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue)); + signal_source->connect(top_block); + top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0); + }) << "Failure connecting the blocks of acquisition test." << std::endl; + + // i = 0 --> satellite in acquisition is visible + // i = 1 --> satellite in acquisition is not visible + for (unsigned int i = 0; i < 2; i++) + { + init(); + + if (i == 0) + { + gnss_synchro.PRN = 10; // This satellite is visible + } + else if (i == 1) + { + gnss_synchro.PRN = 20; // This satellite is not visible + } + + acquisition->set_local_code(); + acquisition->set_state(1); // Ensure that acquisition starts at the first sample + start_queue(); + + EXPECT_NO_THROW( { + top_block->run(); // Start threads and wait + }) << "Failure running the top_block."<< std::endl; + + if (i == 0) + { + EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS."; + if (message == 1) + { + EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation."; + } + + } + else if (i == 1) + { + EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL."; + } +#ifdef OLD_BOOST + ASSERT_NO_THROW( { + ch_thread.timed_join(boost::posix_time::seconds(1)); + }) << "Failure while waiting the queue to stop" << std::endl; +#endif +#ifndef OLD_BOOST + ASSERT_NO_THROW( { + ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50)); + }) << "Failure while waiting the queue to stop" << std::endl; +#endif + } + + delete acquisition; +} + +TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities) +{ + config_2(); + queue = gr::msg_queue::make(0); + top_block = gr::make_top_block("Acquisition test"); + acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 1); + boost::shared_ptr msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue); + + ASSERT_NO_THROW( { + acquisition->set_channel(1); + }) << "Failure setting channel."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_gnss_synchro(&gnss_synchro); + }) << "Failure setting gnss_synchro."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000)); + }) << "Failure setting doppler_max."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500)); + }) << "Failure setting doppler_step."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->set_threshold(config->property("Acquisition.threshold", 0.0)); + }) << "Failure setting threshold."<< std::endl; + + ASSERT_NO_THROW( { + acquisition->connect(top_block); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting acquisition to the top_block."<< std::endl; + + acquisition->init(); + + ASSERT_NO_THROW( { + boost::shared_ptr signal_source; + SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue); + FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1); + signal_source.reset(new GenSignalSource(signal_generator, filter, "SignalSource", queue)); + signal_source->connect(top_block); + top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0); + }) << "Failure connecting the blocks of acquisition test." << std::endl; + + std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl; + + // i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation) + // i = 1 --> satellite in acquisition is not visible (prob of false detection) + for (unsigned int i = 0; i < 2; i++) + { + init(); + + if (i == 0) + { + gnss_synchro.PRN = 10; // This satellite is visible + } + else if (i == 1) + { + gnss_synchro.PRN = 20; // This satellite is not visible + } + + acquisition->set_local_code(); + + start_queue(); + + EXPECT_NO_THROW( { + top_block->run(); // Start threads and wait + }) << "Failure running the top_block."<< std::endl; + + if (i == 0) + { + std::cout << "Estimated probability of detection = " << Pd << std::endl; + std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl; + std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl; } + else if (i == 1) + { + std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl; + std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl; + } +#ifdef OLD_BOOST + ASSERT_NO_THROW( { + ch_thread.timed_join(boost::posix_time::seconds(1)); + }) << "Failure while waiting the queue to stop" << std::endl; +#endif +#ifndef OLD_BOOST + ASSERT_NO_THROW( { + ch_thread.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50)); + }) << "Failure while waiting the queue to stop" << std::endl; +#endif + } + + delete acquisition; +} diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc new file mode 100644 index 000000000..7b3a7fee7 --- /dev/null +++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc @@ -0,0 +1,237 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "gnss_block_factory.h" +#include "gnss_block_interface.h" +#include "in_memory_configuration.h" +#include "gnss_sdr_valve.h" +#include "gnss_synchro.h" +#include "glonass_l1_ca_pcps_acquisition.h" + + +// ######## GNURADIO BLOCK MESSAGE RECEVER ######### +class GlonassL1CaPcpsAcquisitionTest_msg_rx; + +typedef boost::shared_ptr GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr; + +GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make(); + +class GlonassL1CaPcpsAcquisitionTest_msg_rx : public gr::block +{ +private: + friend GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make(); + void msg_handler_events(pmt::pmt_t msg); + GlonassL1CaPcpsAcquisitionTest_msg_rx(); +public: + int rx_message; + ~GlonassL1CaPcpsAcquisitionTest_msg_rx(); //!< Default destructor +}; + + +GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr GlonassL1CaPcpsAcquisitionTest_msg_rx_make() +{ + return GlonassL1CaPcpsAcquisitionTest_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionTest_msg_rx()); +} + + +void GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg) +{ + try + { + long int message = pmt::to_long(msg); + rx_message = message; + } + catch(boost::bad_any_cast& e) + { + std::cout << "msg_handler_telemetry Bad any cast!" << std::endl; + rx_message = 0; + } +} + + +GlonassL1CaPcpsAcquisitionTest_msg_rx::GlonassL1CaPcpsAcquisitionTest_msg_rx() : + gr::block("GlonassL1CaPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) +{ + this->message_port_register_in(pmt::mp("events")); + this->set_msg_handler(pmt::mp("events"), boost::bind(&GlonassL1CaPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1)); + rx_message = 0; +} + + +GlonassL1CaPcpsAcquisitionTest_msg_rx::~GlonassL1CaPcpsAcquisitionTest_msg_rx() +{} + + +// ########################################################### + +class GlonassL1CaPcpsAcquisitionTest: public ::testing::Test +{ +protected: + GlonassL1CaPcpsAcquisitionTest() + { + factory = std::make_shared(); + config = std::make_shared(); + item_size = sizeof(gr_complex); + gnss_synchro = Gnss_Synchro(); + } + + ~GlonassL1CaPcpsAcquisitionTest() + {} + + void init(); + + gr::top_block_sptr top_block; + std::shared_ptr factory; + std::shared_ptr config; + Gnss_Synchro gnss_synchro; + size_t item_size; +}; + + +void GlonassL1CaPcpsAcquisitionTest::init() +{ + gnss_synchro.Channel_ID = 0; + gnss_synchro.System = 'R'; + std::string signal = "1G"; + signal.copy(gnss_synchro.Signal, 2, 0); + gnss_synchro.PRN = 1; + config->set_property("GNSS-SDR.internal_fs_hz", "4000000"); + config->set_property("Acquisition.item_type", "gr_complex"); + config->set_property("Acquisition.if", "0"); + config->set_property("Acquisition.coherent_integration_time_ms", "1"); + config->set_property("Acquisition.dump", "true"); + config->set_property("Acquisition.dump_filename", "./acquisition.dat"); + config->set_property("Acquisition.implementation", "Glonass_L1_CA_PCPS_Acquisition"); + config->set_property("Acquisition.threshold", "0.001"); + config->set_property("Acquisition.doppler_max", "5000"); + config->set_property("Acquisition.doppler_step", "500"); + config->set_property("Acquisition.repeat_satellite", "false"); + config->set_property("Acquisition.pfa", "0.0"); +} + + + +TEST_F(GlonassL1CaPcpsAcquisitionTest, Instantiate) +{ + init(); + boost::shared_ptr acquisition = boost::make_shared(config.get(), "Acquisition", 1, 1); +} + +TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun) +{ + int fs_in = 4000000; + int nsamples = 4000; + struct timeval tv; + long long int begin = 0; + long long int end = 0; + gr::msg_queue::sptr queue = gr::msg_queue::make(0); + + top_block = gr::make_top_block("Acquisition test"); + init(); + boost::shared_ptr acquisition = boost::make_shared(config.get(), "Acquisition", 1, 1); + boost::shared_ptr msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make(); + + ASSERT_NO_THROW( { + acquisition->connect(top_block); + boost::shared_ptr source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0)); + boost::shared_ptr valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue); + top_block->connect(source, 0, valve, 0); + top_block->connect(valve, 0, acquisition->get_left_block(), 0); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + + }) << "Failure connecting the blocks of acquisition test." << std::endl; + + EXPECT_NO_THROW( { + gettimeofday(&tv, NULL); + begin = tv.tv_sec * 1000000 + tv.tv_usec; + top_block->run(); // Start threads and wait + gettimeofday(&tv, NULL); + end = tv.tv_sec * 1000000 + tv.tv_usec; + }) << "Failure running the top_block." << std::endl; + + std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl; +} + +TEST_F(GlonassL1CaPcpsAcquisitionTest, ValidationOfResults) +{ + struct timeval tv; + long long int begin = 0; + long long int end = 0; + top_block = gr::make_top_block("Acquisition test"); + + double expected_delay_samples = 524; + double expected_doppler_hz = 1680; + init(); + std::shared_ptr acquisition = std::make_shared(config.get(), "Acquisition", 1, 1); + + boost::shared_ptr msg_rx = GlonassL1CaPcpsAcquisitionTest_msg_rx_make(); + + ASSERT_NO_THROW( { + acquisition->set_channel(1); + }) << "Failure setting channel." << std::endl; + + ASSERT_NO_THROW( { + acquisition->set_gnss_synchro(&gnss_synchro); + }) << "Failure setting gnss_synchro." << std::endl; + + ASSERT_NO_THROW( { + acquisition->set_threshold(0.1); + }) << "Failure setting threshold." << std::endl; + + ASSERT_NO_THROW( { + acquisition->set_doppler_max(10000); + }) << "Failure setting doppler_max." << std::endl; + + ASSERT_NO_THROW( { + acquisition->set_doppler_step(250); + }) << "Failure setting doppler_step." << std::endl; + + ASSERT_NO_THROW( { + acquisition->connect(top_block); + }) << "Failure connecting acquisition to the top_block." << std::endl; + + ASSERT_NO_THROW( { + std::string path = std::string(TEST_PATH); + std::string file = path + "signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat"; + // std::string file = path + "signal_samples/Glonass_L1_CA_ID_1_Fs_4Msps_2ms.dat"; + const char * file_name = file.c_str(); + gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false); + top_block->connect(file_source, 0, acquisition->get_left_block(), 0); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting the blocks of acquisition test." << std::endl; + + + acquisition->set_state(1); // Ensure that acquisition starts at the first sample + acquisition->init(); + + EXPECT_NO_THROW( { + gettimeofday(&tv, NULL); + begin = tv.tv_sec * 1000000 + tv.tv_usec; + top_block->run(); // Start threads and wait + gettimeofday(&tv, NULL); + end = tv.tv_sec * 1000000 + tv.tv_usec; + }) << "Failure running the top_block." << std::endl; + + + unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples; + std::cout << "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl; + + ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS."; + + double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples); + float delay_error_chips = (float)(delay_error_samples * 511 / 4000); + double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); + + EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)"; + EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips"; + +}