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Merge branch 'next' into fifo_source
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95baa5f1c4
@ -13,10 +13,16 @@ SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc
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### Improvements in Availability:
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- Added the reading of reduced clock and ephemeris data (CED) in the Galileo E1B
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INAV message introduced in Galileo ICD v2.0. If the reduced CED is available
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before the full ephemeris set, it is used for PVT computation until the full
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set has not yet been received. This can contribute to shorten the
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INAV message introduced in Galileo OS SIS ICD Issue 2.0. If the reduced CED is
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available before the full ephemeris set, it is used for PVT computation until
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the full set has not yet been received. This can contribute to shorten the
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Time-To-First-Fix.
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- Added the exploitation of the FEC2 Erasure Correction in the Galileo E1B INAV
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message introduced in Galileo OS SIS ICD Issue 2.0. This can contribute to
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shorten the Time-To-First-Fix. Since the added computational cost could break
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some real-time configurations, this feature is disabled by default. It can be
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activated from the configuration file by adding
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`TelemetryDecoder_1B.enable_reed_solomon=true`.
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### Improvements in Maintainability:
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@ -72,6 +72,9 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_g
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lv_32fc_t phase_doppler = (*phase);
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int n_vec;
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unsigned int n;
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#if _WIN32
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const float arga = cargf(phase_inc_rate);
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#endif
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for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
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{
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result[n_vec] = lv_cmake(0.0f, 0.0f);
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@ -89,8 +92,13 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_g
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}
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tmp32_1 = *in_common++ * (*phase);
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phase_doppler *= phase_inc;
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#if _WIN32
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const float theta = (float)(n * n) * arga;
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phase_doppler_rate = lv_cmake(cosf(theta), sinf(theta));
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#else
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phase_doppler_rate = cpowf(phase_inc_rate, lv_cmake((float)(n * n), 0.0f));
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phase_doppler_rate /= hypotf(lv_creal(phase_doppler_rate), lv_cimag(phase_doppler_rate));
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#endif
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(*phase) = phase_doppler * phase_doppler_rate;
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for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
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@ -32,6 +32,7 @@ GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(
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{
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DLOG(INFO) << "role " << role;
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tlm_parameters_.SetFromConfiguration(configuration, role);
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tlm_parameters_.enable_reed_solomon = configuration->property(role + ".enable_reed_solomon", false);
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// make telemetry decoder object
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telemetry_decoder_ = galileo_make_telemetry_decoder_gs(satellite_, tlm_parameters_, 1); // unified galileo decoder set to INAV (frame_type=1)
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DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
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@ -94,7 +94,10 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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d_codelength = static_cast<int32_t>(d_frame_length_symbols);
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d_datalength = (d_codelength / d_nn) - d_mm;
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d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; // rise alarm 60 seconds without valid tlm
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if (conf.enable_reed_solomon == true)
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{
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d_inav_nav.enable_reed_solomon();
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}
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break;
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}
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case 2: // FNAV
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@ -599,10 +602,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
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// 1. Copy the current tracking output
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current_symbol = in[0][0];
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d_band = current_symbol.Signal[0];
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if (d_band == '1')
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{
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d_inav_nav.enable_reed_solomon();
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}
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// add new symbol to the symbol queue
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switch (d_frame_type)
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@ -22,6 +22,7 @@ Tlm_Conf::Tlm_Conf()
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dump = false;
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dump_mat = false;
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remove_dat = false;
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enable_reed_solomon = false;
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}
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@ -38,6 +38,7 @@ public:
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bool dump;
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bool dump_mat;
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bool remove_dat;
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bool enable_reed_solomon; // for INAV message in Galileo E1B
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};
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@ -116,6 +116,12 @@ target_link_libraries(core_system_parameters
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Glog::glog
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)
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# for gnss_sdr_make_unique.h
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target_include_directories(core_system_parameters
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PUBLIC
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${CMAKE_SOURCE_DIR}/src/algorithms/libs
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)
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if(ENABLE_CLANG_TIDY)
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if(CLANG_TIDY_EXE)
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set_target_properties(core_system_parameters
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@ -1,7 +1,7 @@
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/*!
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* \file galileo_inav_message.cc
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* \brief Implementation of a Galileo I/NAV Data message
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* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
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* as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021)
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* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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@ -10,7 +10,7 @@
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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@ -18,12 +18,14 @@
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#include "galileo_inav_message.h"
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#include "galileo_reduced_ced.h"
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#include "reed_solomon.h"
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#include <boost/crc.hpp> // for boost::crc_basic, boost::crc_optimal
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#include <boost/dynamic_bitset.hpp> // for boost::dynamic_bitset
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#include <glog/logging.h> // for DLOG
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#include <algorithm> // for reverse
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#include <iostream> // for operator<<
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#include <limits> // for std::numeric_limits
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#include <numeric> // for std::accumulate
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using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
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@ -32,9 +34,16 @@ using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false
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Galileo_Inav_Message::Galileo_Inav_Message()
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{
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rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
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// Instantiate ReedSolomon without encoding capabilities, saves some memory
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rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
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inav_rs_pages = std::vector<int>(8, 0);
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}
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// here the compiler knows how to destrcut rs
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Galileo_Inav_Message::~Galileo_Inav_Message() = default;
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bool Galileo_Inav_Message::CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const
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{
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CRC_Galileo_INAV_type CRC_Galileo;
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@ -243,6 +252,116 @@ bool Galileo_Inav_Message::have_new_ephemeris() // Check if we have a new ephem
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return true;
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}
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}
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if (enable_rs)
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{
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// Implement FEC2 Erasure Correction defined in Galileo ICD 2.0
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if (std::accumulate(inav_rs_pages.begin(), inav_rs_pages.end(), 0) == 4)
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{
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// Four different INAV pages received with CRC ok
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// so we can decode the buffer and retrieve data from missing pages
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// Generate erasure vector
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std::vector<int> erasure_positions;
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erasure_positions.reserve(60); // max number of erasure positions
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if (inav_rs_pages[0] == 0)
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{
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// we always know rs_buffer[0], so we start at 1
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for (int i = 1; i < 16; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[1] == 0)
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{
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for (int i = 16; i < 30; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[2] == 0)
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{
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for (int i = 30; i < 44; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[3] == 0)
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{
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for (int i = 44; i < 58; i++)
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{
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erasure_positions.push_back(i);
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}
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}
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if (inav_rs_pages[4] == 0)
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{
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for (int i = 58; i < 73; i++)
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{
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erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
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}
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}
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if (inav_rs_pages[5] == 0)
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{
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for (int i = 73; i < 88; i++)
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{
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erasure_positions.push_back(i + 137);
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}
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}
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if (inav_rs_pages[6] == 0)
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{
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for (int i = 88; i < 103; i++)
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{
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erasure_positions.push_back(i + 137);
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}
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}
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if (inav_rs_pages[7] == 0)
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{
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for (int i = 103; i < 118; i++)
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{
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erasure_positions.push_back(i + 137);
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}
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}
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// Decode rs_buffer
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int result = rs->decode(rs_buffer, erasure_positions);
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// if decoding ok
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if (result >= 0)
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{
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if (inav_rs_pages[0] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_1(rs_buffer);
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read_page_1(missing_bits);
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}
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if (inav_rs_pages[1] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_2(rs_buffer);
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read_page_2(missing_bits);
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}
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if (inav_rs_pages[2] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_3(rs_buffer);
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read_page_3(missing_bits);
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}
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if (inav_rs_pages[3] == 0)
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{
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std::bitset<GALILEO_DATA_JK_BITS> missing_bits = regenerate_page_4(rs_buffer);
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read_page_4(missing_bits);
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}
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// Reset flags
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inav_rs_pages = std::vector<int>(8, 0);
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flag_ephemeris_1 = false; // clear the flag
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flag_ephemeris_2 = false; // clear the flag
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flag_ephemeris_3 = false; // clear the flag
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flag_ephemeris_4 = false; // clear the flag
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flag_all_ephemeris = true;
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IOD_ephemeris = IOD_nav_1;
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DLOG(INFO) << "Batch number: " << IOD_ephemeris;
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return true;
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}
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}
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}
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return false;
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}
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@ -458,6 +577,8 @@ Galileo_Ephemeris Galileo_Inav_Message::get_reduced_ced() const
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{
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Galileo_Reduced_CED ced{};
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ced.PRN = SV_ID_PRN_4;
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// From ICD: TOTRedCED is the start time of transmission of the
|
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// Reduced CED word 16 in GST
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if (TOW_5 > TOW_6)
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{
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ced.TOTRedCED = WN_5 * 604800 + TOW_5 + 4; // According to ICD 2.0, Table 38
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@ -595,6 +716,104 @@ void Galileo_Inav_Message::read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>&
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}
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std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_1(const std::vector<uint8_t>& decoded) const
|
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{
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std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
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// Set page type to 1
|
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data_bits.set(5);
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std::bitset<8> c0(decoded[0]);
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||||
std::bitset<8> c1(decoded[1]);
|
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for (int i = 0; i < 8; i++)
|
||||
{
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data_bits[6 + i] = c1[i];
|
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}
|
||||
data_bits[14] = c0[6];
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||||
data_bits[15] = c0[7];
|
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for (int k = 2; k < 16; k++)
|
||||
{
|
||||
std::bitset<8> octet(decoded[k]);
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
data_bits[i + k * 8] = octet[i];
|
||||
}
|
||||
}
|
||||
return data_bits;
|
||||
}
|
||||
|
||||
|
||||
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_2(const std::vector<uint8_t>& decoded) const
|
||||
{
|
||||
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
||||
// Set page type to 2
|
||||
data_bits.set(4);
|
||||
|
||||
std::bitset<10> iodnav(current_IODnav);
|
||||
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
data_bits[6 + i] = iodnav[i];
|
||||
}
|
||||
for (int k = 0; k < 14; k++)
|
||||
{
|
||||
std::bitset<8> octet(decoded[k + 16]);
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
data_bits[16 + i + k * 8] = octet[i];
|
||||
}
|
||||
}
|
||||
return data_bits;
|
||||
}
|
||||
|
||||
|
||||
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_3(const std::vector<uint8_t>& decoded) const
|
||||
{
|
||||
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
||||
// Set page type to 3
|
||||
data_bits.set(4);
|
||||
data_bits.set(5);
|
||||
|
||||
std::bitset<10> iodnav(current_IODnav);
|
||||
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
data_bits[6 + i] = iodnav[i];
|
||||
}
|
||||
for (int k = 0; k < 14; k++)
|
||||
{
|
||||
std::bitset<8> octet(decoded[k + 30]);
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
data_bits[16 + i + k * 8] = octet[i];
|
||||
}
|
||||
}
|
||||
return data_bits;
|
||||
}
|
||||
|
||||
|
||||
std::bitset<GALILEO_DATA_JK_BITS> Galileo_Inav_Message::regenerate_page_4(const std::vector<uint8_t>& decoded) const
|
||||
{
|
||||
std::bitset<GALILEO_DATA_JK_BITS> data_bits;
|
||||
// Set page type to 4
|
||||
data_bits.set(3);
|
||||
|
||||
std::bitset<10> iodnav(current_IODnav);
|
||||
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
data_bits[6 + i] = iodnav[i];
|
||||
}
|
||||
for (int k = 0; k < 14; k++)
|
||||
{
|
||||
std::bitset<8> octet(decoded[k + 44]);
|
||||
for (int i = 0; i < 8; i++)
|
||||
{
|
||||
data_bits[16 + i + k * 8] = octet[i];
|
||||
}
|
||||
}
|
||||
return data_bits;
|
||||
}
|
||||
|
||||
|
||||
int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
{
|
||||
const std::string data_jk_string = data_jk;
|
||||
@ -619,6 +838,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
// IODnav changed, reset buffer
|
||||
current_IODnav = IOD_nav_1;
|
||||
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
||||
// Reed-Solomon data is invalid
|
||||
inav_rs_pages = std::vector<int>(8, 0);
|
||||
}
|
||||
|
||||
// Store RS information vector C_{RS,0}
|
||||
@ -633,6 +854,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[0] = 1;
|
||||
}
|
||||
|
||||
break;
|
||||
@ -652,6 +874,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
// IODnav changed, reset buffer
|
||||
current_IODnav = IOD_nav_2;
|
||||
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
||||
// Reed-Solomon data is invalid
|
||||
inav_rs_pages = std::vector<int>(8, 0);
|
||||
}
|
||||
|
||||
// Store RS information vector C_{RS,1}
|
||||
@ -663,6 +887,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[1] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -680,6 +905,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
// IODnav changed, reset buffer
|
||||
current_IODnav = IOD_nav_3;
|
||||
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
||||
// Reed-Solomon data is invalid
|
||||
inav_rs_pages = std::vector<int>(8, 0);
|
||||
}
|
||||
|
||||
// Store RS information vector C_{RS,2}
|
||||
@ -691,6 +918,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[2] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -709,6 +937,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
// IODnav changed, reset buffer
|
||||
current_IODnav = IOD_nav_4;
|
||||
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
|
||||
// Reed-Solomon data is invalid
|
||||
inav_rs_pages = std::vector<int>(8, 0);
|
||||
}
|
||||
|
||||
// Store RS information vector C_{RS,3}
|
||||
@ -720,6 +950,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[3] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -988,6 +1219,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
{
|
||||
IODnav_LSB17 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 17: " << static_cast<float>(IODnav_LSB17);
|
||||
if (IODnav_LSB17 != static_cast<uint8_t>((current_IODnav % 4)))
|
||||
{
|
||||
// IODnav changed, information vector is invalid
|
||||
inav_rs_pages[0] = 0;
|
||||
inav_rs_pages[1] = 0;
|
||||
inav_rs_pages[2] = 0;
|
||||
inav_rs_pages[3] = 0;
|
||||
}
|
||||
// Store RS parity vector gamma_{RS,0}
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
@ -998,6 +1237,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[4] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -1008,6 +1248,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
{
|
||||
IODnav_LSB18 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 18: " << static_cast<float>(IODnav_LSB18);
|
||||
if (IODnav_LSB18 != static_cast<uint8_t>((current_IODnav % 4)))
|
||||
{
|
||||
// IODnav changed, information vector is invalid
|
||||
inav_rs_pages[0] = 0;
|
||||
inav_rs_pages[1] = 0;
|
||||
inav_rs_pages[2] = 0;
|
||||
inav_rs_pages[3] = 0;
|
||||
}
|
||||
// Store RS parity vector gamma_{RS,1}
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
@ -1018,6 +1266,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[5] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -1028,6 +1277,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
{
|
||||
IODnav_LSB19 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 19: " << static_cast<float>(IODnav_LSB19);
|
||||
if (IODnav_LSB19 != static_cast<uint8_t>((current_IODnav % 4)))
|
||||
{
|
||||
// IODnav changed, information vector is invalid
|
||||
inav_rs_pages[0] = 0;
|
||||
inav_rs_pages[1] = 0;
|
||||
inav_rs_pages[2] = 0;
|
||||
inav_rs_pages[3] = 0;
|
||||
}
|
||||
// Store RS parity vector gamma_{RS,2}
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 2 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
@ -1038,6 +1295,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[6] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -1048,6 +1306,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
{
|
||||
IODnav_LSB20 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
|
||||
DLOG(INFO) << "IODnav 2 LSBs in Word type 20: " << static_cast<float>(IODnav_LSB20);
|
||||
if (IODnav_LSB20 != static_cast<uint8_t>((current_IODnav % 4)))
|
||||
{
|
||||
// IODnav changed, information vector is invalid
|
||||
inav_rs_pages[0] = 0;
|
||||
inav_rs_pages[1] = 0;
|
||||
inav_rs_pages[2] = 0;
|
||||
inav_rs_pages[3] = 0;
|
||||
}
|
||||
// Store RS parity vector gamma_{RS,4}
|
||||
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 3 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
@ -1058,6 +1324,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
|
||||
start_bit += BITS_IN_OCTET;
|
||||
}
|
||||
inav_rs_pages[7] = 1;
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -1065,11 +1332,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
|
||||
case 0: // Word type 0: I/NAV Spare Word
|
||||
Time_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TIME_0_BIT));
|
||||
DLOG(INFO) << "Time_0= " << Time_0;
|
||||
WN_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_0_BIT));
|
||||
DLOG(INFO) << "WN_0= " << WN_0;
|
||||
TOW_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_0_BIT));
|
||||
DLOG(INFO) << "TOW_0= " << TOW_0;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
if (Time_0 == 2) // valid data
|
||||
{
|
||||
WN_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_0_BIT));
|
||||
DLOG(INFO) << "WN_0= " << WN_0;
|
||||
TOW_0 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, TOW_0_BIT));
|
||||
DLOG(INFO) << "TOW_0= " << TOW_0;
|
||||
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
/*!
|
||||
* \file galileo_inav_message.h
|
||||
* \brief Implementation of a Galileo I/NAV Data message
|
||||
* as described in Galileo OS SIS ICD Issue 1.2 (Nov. 2015)
|
||||
* as described in Galileo OS SIS ICD Issue 2.0 (Jan. 2021)
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
||||
*
|
||||
@ -10,7 +10,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -24,12 +24,16 @@
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
#include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11
|
||||
#include <bitset>
|
||||
#include <cstdint>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <utility>
|
||||
#include <vector>
|
||||
|
||||
class ReedSolomon; // Forward declaration of the ReedSolomon class
|
||||
|
||||
/** \addtogroup Core
|
||||
* \{ */
|
||||
/** \addtogroup System_Parameters
|
||||
@ -46,6 +50,8 @@ class Galileo_Inav_Message
|
||||
public:
|
||||
Galileo_Inav_Message();
|
||||
|
||||
~Galileo_Inav_Message();
|
||||
|
||||
/*
|
||||
* \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
|
||||
*/
|
||||
@ -210,6 +216,10 @@ private:
|
||||
void read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
|
||||
void read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
|
||||
void read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
|
||||
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_1(const std::vector<uint8_t>& decoded) const;
|
||||
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_2(const std::vector<uint8_t>& decoded) const;
|
||||
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_3(const std::vector<uint8_t>& decoded) const;
|
||||
std::bitset<GALILEO_DATA_JK_BITS> regenerate_page_4(const std::vector<uint8_t>& decoded) const;
|
||||
|
||||
std::string page_Even{};
|
||||
|
||||
@ -366,7 +376,9 @@ private:
|
||||
|
||||
int32_t current_IODnav{};
|
||||
|
||||
std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer
|
||||
std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer
|
||||
std::unique_ptr<ReedSolomon> rs; // The Reed-Solomon decoder
|
||||
std::vector<int> inav_rs_pages; // Pages 1,2,3,4,17,18,19,20. Holds 1 if the page has arrived, 0 otherwise.
|
||||
|
||||
uint8_t IODnav_LSB17{};
|
||||
uint8_t IODnav_LSB18{};
|
||||
|
||||
@ -739,18 +739,19 @@ void ReedSolomon::encode_rs_8(const uint8_t* data, uint8_t* parity) const
|
||||
int ReedSolomon::decode(std::vector<uint8_t>& data_to_decode, const std::vector<int>& erasure_positions) const
|
||||
{
|
||||
int result = -1;
|
||||
if (data_to_decode.size() != d_data_symbols_shortened)
|
||||
{
|
||||
std::cerr << "Reed Solomon usage error: wrong vector input size in decode method.\n";
|
||||
return result;
|
||||
}
|
||||
if (erasure_positions.size() > std::size_t(d_nroots))
|
||||
{
|
||||
std::cerr << "Reed Solomon usage error: too much erasure positions.\n";
|
||||
return result;
|
||||
}
|
||||
size_t size_buffer = data_to_decode.size();
|
||||
if ((size_buffer != d_data_symbols_shortened) && (size_buffer != static_cast<size_t>(d_symbols_per_block)))
|
||||
{
|
||||
std::cerr << "Reed Solomon usage error: wrong vector input size in decode method.\n";
|
||||
return result;
|
||||
}
|
||||
|
||||
if (d_shortening == 0)
|
||||
if (d_shortening == 0 || (size_buffer == static_cast<size_t>(d_symbols_per_block)))
|
||||
{
|
||||
result = decode_rs_8(data_to_decode.data(), erasure_positions.data(), erasure_positions.size());
|
||||
}
|
||||
|
||||
@ -103,6 +103,7 @@ endmacro()
|
||||
add_benchmark(benchmark_copy)
|
||||
add_benchmark(benchmark_preamble core_system_parameters)
|
||||
add_benchmark(benchmark_detector core_system_parameters)
|
||||
add_benchmark(benchmark_reed_solomon core_system_parameters)
|
||||
|
||||
if(has_std_plus_void)
|
||||
target_compile_definitions(benchmark_detector PRIVATE -DCOMPILER_HAS_STD_PLUS_VOID=1)
|
||||
|
||||
210
src/tests/benchmarks/benchmark_reed_solomon.cc
Normal file
210
src/tests/benchmarks/benchmark_reed_solomon.cc
Normal file
@ -0,0 +1,210 @@
|
||||
/*!
|
||||
* \file benchmark_redd_solomon.cc
|
||||
* \brief Benchmark for Reed Solomon decoder
|
||||
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2021 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gnss_sdr_make_unique.h" // for std::unique_ptr in C++11
|
||||
#include "reed_solomon.h"
|
||||
#include <benchmark/benchmark.h>
|
||||
#include <memory>
|
||||
#include <vector>
|
||||
|
||||
void bm_e1b_erasurecorrection_shortened(benchmark::State& state)
|
||||
{
|
||||
std::vector<uint8_t> code_vector = {147, 109, 66, 23, 234, 140, 74, 234, 49, 89, 241, 253, 169, 161, 89, 93, 75, 142, 83, 102, 98, 218, 14, 197, 155, 151, 43, 181, 9, 163, 142, 111, 8, 118, 21, 47, 135, 139, 108, 215, 51, 147, 185, 52, 17, 151, 97, 102, 238, 71, 83, 114, 47, 80, 67, 199, 215, 162, 238, 77, 12, 72, 235, 21, 148, 213, 230, 54, 183, 82, 49, 104, 12, 228, 150, 157, 220, 112, 236, 187, 63, 31, 175, 47, 210, 164, 17, 104, 98, 46, 252, 165, 194, 57, 26, 213, 14, 133, 176, 148, 34, 9, 167, 43, 204, 198, 25, 164, 233, 55, 153, 31, 237, 84, 212, 76, 137, 242};
|
||||
|
||||
auto rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
|
||||
|
||||
// Use case: We have received Word 1, Word 3, Word 18, Word 20
|
||||
// So we have: c_0, c_2, g_1, g_3
|
||||
|
||||
// Delete c_1
|
||||
for (int i = 16; i < 30; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
// Delete c_3
|
||||
for (int i = 44; i < 58; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
// Delete g_0
|
||||
for (int i = 58; i < 73; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
// Delete g_2
|
||||
for (int i = 88; i < 103; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> code_vector_missing = code_vector;
|
||||
|
||||
while (state.KeepRunning())
|
||||
{
|
||||
std::vector<int> erasure_positions;
|
||||
erasure_positions.reserve(60);
|
||||
for (int i = 16; i < 30; i++)
|
||||
{
|
||||
erasure_positions.push_back(i);
|
||||
}
|
||||
|
||||
// Delete c_3
|
||||
for (int i = 44; i < 58; i++)
|
||||
{
|
||||
erasure_positions.push_back(i);
|
||||
}
|
||||
|
||||
// Delete g_0
|
||||
for (int i = 58; i < 73; i++)
|
||||
{
|
||||
erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
|
||||
}
|
||||
|
||||
// Delete g_2
|
||||
for (int i = 88; i < 103; i++)
|
||||
{
|
||||
erasure_positions.push_back(i + 137);
|
||||
}
|
||||
|
||||
int result = rs->decode(code_vector, erasure_positions);
|
||||
|
||||
if (result < 0)
|
||||
{
|
||||
state.SkipWithError("Failed to decode data!");
|
||||
break;
|
||||
}
|
||||
state.PauseTiming();
|
||||
code_vector = code_vector_missing;
|
||||
state.ResumeTiming();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void bm_e1b_erasurecorrection_unshortened(benchmark::State& state)
|
||||
{
|
||||
std::vector<uint8_t> code_vector = {147, 109, 66, 23, 234, 140, 74, 234, 49, 89, 241, 253, 169, 161, 89, 93, 75, 142, 83, 102, 98, 218, 14, 197, 155, 151, 43, 181, 9, 163, 142, 111, 8, 118, 21, 47, 135, 139, 108, 215, 51, 147, 185, 52, 17, 151, 97, 102, 238, 71, 83, 114, 47, 80, 67, 199, 215, 162, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 238, 77, 12, 72, 235, 21, 148, 213, 230, 54, 183, 82, 49, 104, 12, 228, 150, 157, 220, 112, 236, 187, 63, 31, 175, 47, 210, 164, 17, 104, 98, 46, 252, 165, 194, 57, 26, 213, 14, 133, 176, 148, 34, 9, 167, 43, 204, 198, 25, 164, 233, 55, 153, 31, 237, 84, 212, 76, 137, 242};
|
||||
|
||||
auto rs = std::make_unique<ReedSolomon>(60, 29, 1, 195, 0, 137);
|
||||
|
||||
// Use case: We have received Word 1, Word 3, Word 18, Word 20
|
||||
// So we have: c_0, c_2, g_1, g_3
|
||||
|
||||
// Delete c_1
|
||||
for (int i = 16; i < 30; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
// Delete c_3
|
||||
for (int i = 44; i < 58; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
// Delete g_0
|
||||
for (int i = 137 + 58; i < 137 + 73; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
// Delete g_2
|
||||
for (int i = 137 + 88; i < 137 + 103; i++)
|
||||
{
|
||||
code_vector[i] = 0;
|
||||
}
|
||||
|
||||
std::vector<uint8_t> code_vector_missing = code_vector;
|
||||
|
||||
while (state.KeepRunning())
|
||||
{
|
||||
std::vector<int> erasure_positions;
|
||||
erasure_positions.reserve(60);
|
||||
for (int i = 16; i < 30; i++)
|
||||
{
|
||||
erasure_positions.push_back(i);
|
||||
}
|
||||
|
||||
// Delete c_3
|
||||
for (int i = 44; i < 58; i++)
|
||||
{
|
||||
erasure_positions.push_back(i);
|
||||
}
|
||||
|
||||
// Delete g_0
|
||||
for (int i = 58; i < 73; i++)
|
||||
{
|
||||
erasure_positions.push_back(i + 137); // erasure position refers to the unshortened code, so we add 137
|
||||
}
|
||||
|
||||
// Delete g_2
|
||||
for (int i = 88; i < 103; i++)
|
||||
{
|
||||
erasure_positions.push_back(i + 137);
|
||||
}
|
||||
|
||||
int result = rs->decode(code_vector, erasure_positions);
|
||||
|
||||
if (result < 0)
|
||||
{
|
||||
state.SkipWithError("Failed to decode data!");
|
||||
break;
|
||||
}
|
||||
state.PauseTiming();
|
||||
code_vector = code_vector_missing;
|
||||
state.ResumeTiming();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void bm_e6b_correction(benchmark::State& state)
|
||||
{
|
||||
const std::vector<uint8_t> expected_output = {71, 12, 25, 210, 178, 81, 243, 9, 112, 98, 196, 203, 48, 125, 114, 165, 181, 193, 71, 174, 168, 42, 31, 128, 245, 87, 150, 58, 192, 66, 130, 179};
|
||||
|
||||
std::vector<uint8_t> encoded_input = {
|
||||
71, 12, 25, 210, 178, 81, 243, 9, 112, 98, 196, 203, 48, 125, 114, 165, 181, 193, 71, 174, 168, 42, 31, 128, 245, 87, 150, 58, 192, 66, 130, 179, 133, 210, 122, 224, 75, 138, 20, 205, 14, 245, 209, 187, 246, 228, 12, 39, 244, 238, 223, 217, 84, 233, 137, 168, 153, 8, 94, 26, 99, 169, 149, 203, 115, 69, 211, 43, 70, 96, 70, 38, 160, 1, 232, 153, 223, 165, 93, 205, 101, 170, 60, 188, 198, 82, 168, 79, 95, 23, 118, 215, 187, 136, 24, 99, 252, 3, 144, 166, 117, 45, 168, 239, 77, 42, 246, 33, 122, 97, 242, 236, 13, 217, 96, 186, 71, 250, 242, 177, 125, 87, 27, 13, 118, 181, 178, 12, 27, 66, 31, 74, 127, 46, 112, 127, 116, 122, 190, 71, 240, 95, 78, 194, 113, 80, 46, 126, 74, 136, 118, 133, 105, 176, 47, 230, 162, 195, 93, 157, 72, 119, 13, 232, 151, 200, 191, 143, 75, 161, 111, 29, 158, 16, 181, 165, 92, 39, 17, 218, 228, 58, 176, 233, 55, 211, 195, 73, 37, 137, 232, 241, 150, 236, 152, 153, 53, 74, 81, 91, 160, 244, 21, 95, 176, 179, 141, 39, 61, 136, 16, 58, 160, 51, 210, 31, 134, 63, 203, 96, 219, 44, 231, 61, 220, 0, 241, 220, 207, 17, 52, 150, 117, 54, 222, 128, 101, 213, 164, 234, 74, 224, 57, 246, 70, 27, 202, 229, 4, 243, 128, 211, 158, 199, 4};
|
||||
|
||||
// Introduce t = (n-k)/2 = 111 errors:
|
||||
for (int i = 0; i < 222; i += 2)
|
||||
{
|
||||
encoded_input[i] = 0;
|
||||
}
|
||||
std::vector<uint8_t> code_vector_missing = encoded_input;
|
||||
|
||||
auto rs = std::make_unique<ReedSolomon>();
|
||||
|
||||
while (state.KeepRunning())
|
||||
{
|
||||
int result = rs->decode(encoded_input);
|
||||
if (result < 0)
|
||||
{
|
||||
state.SkipWithError("Failed to decode data!");
|
||||
break;
|
||||
}
|
||||
state.PauseTiming();
|
||||
encoded_input = code_vector_missing;
|
||||
state.ResumeTiming();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
BENCHMARK(bm_e1b_erasurecorrection_shortened);
|
||||
BENCHMARK(bm_e1b_erasurecorrection_unshortened);
|
||||
BENCHMARK(bm_e6b_correction);
|
||||
BENCHMARK_MAIN();
|
||||
Loading…
Reference in New Issue
Block a user