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Added a new tracking algorithm that uses TCP sockets to move the work of a processing block to a remote machine executing MATLAB Simulink.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@185 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
David Pubill 2012-03-16 10:55:58 +00:00
parent 5f51f513a3
commit 984b782660
17 changed files with 35077 additions and 0 deletions
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393
conf/gnss-sdr_tcp_connector_tracking.conf Normal file
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[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=4000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use only File_Signal_Source in this version
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/home/engunit/workspace/cap2/agilent_cap2.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#gain: Front-end Gain in [dB]
SignalSource.gain=50
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource.subdevice=B:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;SignalSource.samples=80000000
;SignalSource.samples=40000000
;SignalSource.samples=20000000
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
;#implementation: Pass_Through disables this block
SignalConditioner.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: Pass_Through disables this block
DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Pass_Through disables this block
;InputFilter.implementation=Fir_Filter
InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter.grid_density=16
;######### RESAMPLER CONFIG ############
;## Resamples the input data.
;#implementation: Pass_Through disables this block
Resampler.implementation=Direct_Resampler
;Resampler.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels.
Channels.count=8
Channels.in_acquisition=8
;######### CHANNEL 0 CONFIG ############
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS
Channel0.system=GPS
;#signal:
;# "1C" GPS L1 C/A
;# "1P" GPS L1 P
;# "1W" GPS L1 Z-tracking and similar (AS on)
;# "1Y" GPS L1 Y
;# "1M" GPS L1 M
;# "1N" GPS L1 codeless
;# "2C" GPS L2 C/A
;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
;# "2S" GPS L2 L2C (M)
;# "2L" GPS L2 L2C (L)
;# "2X" GPS L2 L2C (M+L)
;# "2P" GPS L2 P
;# "2W" GPS L2 Z-tracking and similar (AS on)
;# "2Y" GPS L2 Y
;# "2M" GPS GPS L2 M
;# "2N" GPS L2 codeless
;# "5I" GPS L5 I
;# "5Q" GPS L5 Q
;# "5X" GPS L5 I+Q
;# "1C" GLONASS G1 C/A
;# "1P" GLONASS G1 P
;# "2C" GLONASS G2 C/A (Glonass M)
;# "2P" GLONASS G2 P
;# "1A" GALILEO E1 A (PRS)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1C" GALILEO E1 C (no data)
;# "1X" GALILEO E1 B+C
;# "1Z" GALILEO E1 A+B+C
;# "5I" GALILEO E5a I (F/NAV OS)
;# "5Q" GALILEO E5a Q (no data)
;# "5X" GALILEO E5a I+Q
;# "7I" GALILEO E5b I
;# "7Q" GALILEO E5b Q
;# "7X" GALILEO E5b I+Q
;# "8I" GALILEO E5 I
;# "8Q" GALILEO E5 Q
;# "8X" GALILEO E5 I+Q
;# "6A" GALILEO E6 A
;# "6B" GALILEO E6 B
;# "6C" GALILEO E6 C
;# "6X" GALILEO E6 B+C
;# "6Z" GALILEO E6 A+B+C
;# "1C" SBAS L1 C/A
;# "5I" SBAS L5 I
;# "5Q" SBAS L5 Q
;# "5X" SBAS L5 I+Q
;# "2I" COMPASS E2 I
;# "2Q" COMPASS E2 Q
;# "2X" COMPASS E2 IQ
;# "7I" COMPASS E5b I
;# "7Q" COMPASS E5b Q
;# "7X" COMPASS E5b IQ
;# "6I" COMPASS E6 I
;# "6Q" COMPASS E6 Q
;# "6X" COMPASS E6 IQ
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel0.signal=1C
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
;Channel0.satellite=2
;######### CHANNEL 1 CONFIG ############
Channel1.system=GPS
Channel1.signal=1C
;Channel1.satellite=14
;######### CHANNEL 2 CONFIG ############
Channel2.system=GPS
Channel2.signal=1C
;Channel2.satellite=21
;######### CHANNEL 3 CONFIG ############
Channel3.system=GPS
Channel3.signal=1C
;Channel3.satellite=13
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=false
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.sampled_ms=1
;######### ACQUISITION CHANNELS CONFIG ######
;######### ACQUISITION CH 0 CONFIG ############
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold
Acquisition0.threshold=70
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition0.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition0.doppler_step=250
;#repeat_satellite: Use only jointly with the satellte PRN ID option.
;#Enable repeat_satellite to keep searching the same satellite during the runtime.
;Acquisition0.repeat_satellite=true
;######### ACQUISITION CH 1 CONFIG ############
Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition1.threshold=70
Acquisition1.doppler_max=10000
Acquisition1.doppler_step=250
;Acquisition1.repeat_satellite=true
;######### ACQUISITION CH 2 CONFIG ############
Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition2.threshold=70
Acquisition2.doppler_max=10000
Acquisition2.doppler_step=250
;Acquisition2.repeat_satellite=true
;######### ACQUISITION CH 3 CONFIG ############
Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition3.threshold=70
Acquisition3.doppler_max=10000
Acquisition3.doppler_step=250
;Acquisition3.repeat_satellite=true
;######### ACQUISITION CH 4 CONFIG ############
Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition4.threshold=70
Acquisition4.doppler_max=10000
Acquisition4.doppler_step=250
;Acquisition4.repeat_satellite=true
;######### ACQUISITION CH 5 CONFIG ############
Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition5.threshold=70
Acquisition5.doppler_max=10000
Acquisition5.doppler_step=250
;Acquisition5.repeat_satellite=true
;######### ACQUISITION CH 6 CONFIG ############
Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition6.threshold=70
Acquisition6.doppler_max=10000
Acquisition6.doppler_step=250
;Acquisition6.repeat_satellite=true
;######### ACQUISITION CH 7 CONFIG ############
Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition7.threshold=70
Acquisition7.doppler_max=10000
Acquisition7.doppler_step=250
;Acquisition7.repeat_satellite=true
;######### TRACKING GLOBAL CONFIG ############
;#implementatiion: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking], [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking]
Tracking.implementation=GPS_L1_CA_TCP_CONNECTOR_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking.fll_bw_hz=20.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking.order=2;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking.early_late_space_chips=0.5;
;#port_ch0: local TCP port for channel 0
Tracking.port_ch0=2060;
;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#output_rate_ms: Period between two psudoranges outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
Observables.output_rate_ms=100
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=GPS_L1_CA_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=2
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

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src/algorithms/tracking/adapters/gps_l1_ca_tcp_connector_tracking.cc Normal file
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/*!
* \file gps_l1_ca_tcp_connector_tracking.cc
* \brief Implementation of an adapter of a TCP connector block based on code DLL + carrier PLL
* \author David Pubill, 2012. dpubill(at)cttc.es
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_tcp_connector_tracking.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#ifdef GNSS_SDR_USE_BOOST_ROUND
#include <boost/math/special_functions/round.hpp>
#endif
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaTcpConnectorTracking::GpsL1CaTcpConnectorTracking(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams),
queue_(queue)
{
DLOG(INFO) << "role " << role;
//DLOG(INFO) << "vector length " << vector_length;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
size_t port_ch0;
item_type = configuration->property(role + ".item_type",default_item_type);
//vector_length = configuration->property(role + ".vector_length", 2048);
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
port_ch0 = configuration->property(role + ".port_ch0", 2060);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
#ifdef GNSS_SDR_USE_BOOST_ROUND
vector_length = round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
#else
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
#endif
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l1_ca_tcp_connector_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips,
port_ch0);
}
else
{
LOG_AT_LEVEL(WARNING) << item_type << " unknown tracking item type.";
}
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
}
GpsL1CaTcpConnectorTracking::~GpsL1CaTcpConnectorTracking()
{
}
void GpsL1CaTcpConnectorTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL1CaTcpConnectorTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
/*
* Set tracking channel internal queue
*/
void GpsL1CaTcpConnectorTracking::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
tracking_->set_channel_queue(channel_internal_queue_);
}
void GpsL1CaTcpConnectorTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaTcpConnectorTracking::connect(gr_top_block_sptr top_block)
{
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL1CaTcpConnectorTracking::disconnect(gr_top_block_sptr top_block)
{
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr_basic_block_sptr GpsL1CaTcpConnectorTracking::get_left_block()
{
return tracking_;
}
gr_basic_block_sptr GpsL1CaTcpConnectorTracking::get_right_block()
{
return tracking_;
}

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src/algorithms/tracking/adapters/gps_l1_ca_tcp_connector_tracking.h Normal file
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/*!
* \file gps_l1_ca_tcp_connector_tracking.h
* \brief Interface of an adapter of a TCP connector block based on code DLL + carrier PLL
* for GPS L1 C/A to a TrackingInterface
* \author David Pubill, 2012. dpubill(at)cttc.es
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkha user, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_H_
#define GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_H_
#include "tracking_interface.h"
#include "gps_l1_ca_tcp_connector_tracking_cc.h"
#include <gnuradio/gr_msg_queue.h>
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GpsL1CaTcpConnectorTracking : public TrackingInterface
{
public:
GpsL1CaTcpConnectorTracking(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
gr_msg_queue_sptr queue);
virtual ~GpsL1CaTcpConnectorTracking();
std::string role()
{
return role_;
}
std::string implementation()
{
return "tracking";
}
size_t item_size()
{
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
void start_tracking();
private:
gps_l1_ca_tcp_connector_tracking_cc_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
concurrent_queue<int> *channel_internal_queue_;
};
#endif // GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_H_

1
src/algorithms/tracking/adapters/jamfile.jam
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@ -2,3 +2,4 @@ project : build-dir ../../../../build ;
obj gps_l1_ca_dll_pll_tracking : gps_l1_ca_dll_pll_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_dll_fll_pll_tracking : gps_l1_ca_dll_fll_pll_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_tcp_connector_tracking : gps_l1_ca_tcp_connector_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;

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/*!
* \file gps_l1_ca_tcp_connector_tracking_cc.cc
* \brief Implementation of a TCP connector block based on Code DLL + carrier PLL
* \author David Pubill, 2012. dpubill(at)cttc.es
* Javier Arribas, 2011. jarribas(at)cttc.es
*
*
* Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkha user, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_synchro.h"
#include "gps_l1_ca_tcp_connector_tracking_cc.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "CN_estimators.h"
#include "GPS_L1_CA.h"
#include "control_message_factory.h"
#include "tcp_communication.h"
#include <boost/lexical_cast.hpp>
#include <iostream>
#include <sstream>
#include <cmath>
#include "math.h"
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <boost/asio.hpp>
#include "tcp_packet_data.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 10
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 200
#define NUM_TX_VARIABLES 7
#define NUM_RX_VARIABLES 3
using google::LogMessage;
gps_l1_ca_tcp_connector_tracking_cc_sptr
gps_l1_ca_tcp_connector_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
size_t port_ch0)
{
return gps_l1_ca_tcp_connector_tracking_cc_sptr(new Gps_L1_Ca_Tcp_Connector_Tracking_cc(if_freq,
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, port_ch0));
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
}
Gps_L1_Ca_Tcp_Connector_Tracking_cc::Gps_L1_Ca_Tcp_Connector_Tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
size_t port_ch0) :
gr_block ("Gps_L1_Ca_Tcp_Connector_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
{
//gr_sync_decimator ("Gps_L1_Ca_Tcp_Connector_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
// gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
//--- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
//--- TCP CONNECTOR variables --------------------------------------------------------
d_port_ch0 = port_ch0;
d_port = 0;
d_listen_connection = true;
d_control_id = 0;
// Initialization of local code replica
// Get space for a vector with the C/A code replica sampled 1x/chip
d_ca_code = new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 2];
d_carr_sign = new gr_complex[d_vector_length*2];
/* If an array is partitioned for more than one thread to operate on,
* having the sub-array boundaries unaligned to cache lines could lead
* to performance degradation. Here we allocate memory
* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
*/
// todo: do something if posix_memalign fails
// Get space for the resampled early / prompt / late local replicas
if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
// space for carrier wipeoff and signal baseband vectors
if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
// correlator outputs (scalar)
if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){};
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0;
d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
d_last_seg = 0;
d_current_prn_length_samples = (int)d_vector_length;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = 5;
systemName["G"] = std::string("GPS");
systemName["R"] = std::string("GLONASS");
systemName["S"] = std::string("SBAS");
systemName["E"] = std::string("Galileo");
systemName["C"] = std::string("Compass");
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::start_tracking()
{
/*
* correct the code phase according to the delay between acq and trk
*/
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
unsigned long int acq_trk_diff_samples;
float acq_trk_diff_seconds;
acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
std::cout << "acq_trk_diff_samples=" << acq_trk_diff_samples << std::endl;
acq_trk_diff_seconds = (float)acq_trk_diff_samples / (float)d_fs_in;
//doppler effect
// Fd=(C/(C+Vr))*F
float radial_velocity;
radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz)/GPS_L1_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
float T_chip_mod_seconds;
float T_prn_mod_seconds;
float T_prn_mod_samples;
d_code_freq_hz = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
T_chip_mod_seconds = 1/d_code_freq_hz;
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * (float)d_fs_in;
d_next_prn_length_samples = round(T_prn_mod_samples);
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
float T_prn_diff_seconds;
T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
float N_prn_diff;
N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
float corrected_acq_phase_samples, delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * (float)d_fs_in), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_carrier_doppler_hz); //initialize the carrier filter
d_code_loop_filter.initialize(d_acq_code_phase_samples); //initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
code_gen_conplex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
d_ca_code[0] = d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 1] = d_ca_code[1];
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
d_rem_carr_phase_rad = 0;
d_rem_code_phase_samples = 0;
d_next_rem_code_phase_samples = 0;
d_acc_carrier_phase_rad = 0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0,1);
// DEBUG OUTPUT
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
DLOG(INFO) << "Start tracking for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " received" << std::endl;
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
std::cout << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples << std::endl;
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::update_local_code()
{
float tcode_chips;
float rem_code_phase_chips;
int associated_chip_index;
int code_length_chips = (int)GPS_L1_CA_CODE_LENGTH_CHIPS;
// unified loop for E, P, L code vectors
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_hz / d_fs_in);
tcode_chips = -rem_code_phase_chips;
for (int i=0; i<d_current_prn_length_samples; i++)
{
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
d_early_code[i] = d_ca_code[associated_chip_index];
associated_chip_index = 1 + round(fmod(tcode_chips, code_length_chips));
d_prompt_code[i] = d_ca_code[associated_chip_index];
associated_chip_index = 1 + round(fmod(tcode_chips+d_early_late_spc_chips, code_length_chips));
d_late_code[i] = d_ca_code[associated_chip_index];
tcode_chips = tcode_chips + d_code_phase_step_chips;
}
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::update_local_carrier()
{
float phase_rad, phase_step_rad;
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), sin(phase_rad));
phase_rad += phase_step_rad;
}
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
}
Gps_L1_Ca_Tcp_Connector_Tracking_cc::~Gps_L1_Ca_Tcp_Connector_Tracking_cc()
{
d_dump_file.close();
free(d_prompt_code);
free(d_late_code);
free(d_early_code);
free(d_carr_sign);
free(d_Early);
free(d_Prompt);
free(d_Late);
delete[] d_ca_code;
delete[] d_Prompt_buffer;
d_tcp_com.close_tcp_connection(d_port);
}
tcp_packet_data::tcp_packet_data() {
proc_pack_code_error = 0;
proc_pack_carr_error = 0;
}
tcp_packet_data::~tcp_packet_data() {
}
/* Tracking signal processing
* Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples
*/
int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
// process vars
float carr_error;
float carr_nco;
float code_error;
float code_nco;
tcp_packet_data tcp_data;
//! Listen for connections on a TCP port
if (d_listen_connection == true)
{
d_port = d_port_ch0 + d_channel;
d_listen_connection = d_tcp_com.listen_tcp_connection(d_port);
}
if (d_enable_tracking == true)
{
/*
* Receiver signal alignment
*/
if (d_pull_in == true)
{
int samples_offset;
// 28/11/2011 ACQ to TRK transition BUG CORRECTION
float acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples);
//std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n";
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
consume_each(samples_offset); //shift input to perform alignement with local replica
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// Update the prn length based on code freq (variable) and
// sampling frequency (fixed)
// variable code PRN sample block size
d_current_prn_length_samples = d_next_prn_length_samples;
update_local_code();
update_local_carrier();
// perform Early, Prompt and Late correlation
d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
in,
d_carr_sign,
d_early_code,
d_prompt_code,
d_late_code,
d_Early,
d_Prompt,
d_Late);
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true )// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
{
const int samples_available = ninput_items[0];
d_sample_counter = d_sample_counter + samples_available;
LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
consume_each(samples_available);
// make an output to not stop the rest of the processing blocks
current_synchro_data.Prompt_I=0.0;
current_synchro_data.Prompt_Q=0.0;
current_synchro_data.Tracking_timestamp_secs=d_sample_counter_seconds;
current_synchro_data.Carrier_phase_rads=0.0;
current_synchro_data.Code_phase_secs=0.0;
current_synchro_data.CN0_dB_hz=0.0;
current_synchro_data.Flag_valid_tracking=false;
*out[0] =current_synchro_data;
return 1;
}
//! Variable used for control
d_control_id++;
//! Send and receive a TCP packet
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{(*d_Early).imag(),(*d_Early).real(),(*d_Late).imag(),(*d_Late).real(),(*d_Prompt).imag(),(*d_Prompt).real(), d_control_id}};
d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
//! Recover the data
code_error = tcp_data.proc_pack_code_error;
carr_error = tcp_data.proc_pack_carr_error;
// Compute PLL error and update carrier NCO -
//SIM carr_error = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
// Implement carrier loop filter and generate NCO command
carr_nco = d_carrier_loop_filter.get_carrier_nco(carr_error);
// Modify carrier freq based on NCO command
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_nco;
// Compute DLL error and update code NCO
//SIM code_error = dll_nc_e_minus_l_normalized(*d_Early, *d_Late);
// Implement code loop filter and generate NCO command
code_nco = d_code_loop_filter.get_code_nco(code_error);
// Modify code freq based on NCO command
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ - code_nco;
// Update the phasestep based on code freq (variable) and
// sampling frequency (fixed)
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
// variable code PRN sample block size
float T_chip_seconds;
float T_prn_seconds;
float T_prn_samples;
float K_blk_samples;
T_chip_seconds = 1 / d_code_freq_hz;
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * d_fs_in;
d_rem_code_phase_samples = d_next_rem_code_phase_samples;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
// Update the current PRN delay (code phase in samples)
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
d_code_phase_samples = d_code_phase_samples + T_prn_samples - T_prn_true_samples;
if (d_code_phase_samples < 0)
{
d_code_phase_samples = T_prn_true_samples + d_code_phase_samples;
}
d_code_phase_samples = fmod(d_code_phase_samples, T_prn_true_samples);
d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
/*!
* \todo Improve the lock detection algorithm!
*/
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
d_CN0_SNV_dB_Hz = gps_l1_ca_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// ###### TRACKING UNLOCK NOTIFICATION #####
//int tracking_message;
if (d_carrier_lock_test < d_carrier_lock_threshold or d_carrier_lock_test > MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
// tracking_message = 3; //loss of lock
// d_channel_internal_queue->push(tracking_message);
ControlMessageFactory* cmf = new ControlMessageFactory();
if (d_queue != gr_msg_queue_sptr()) {
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
delete cmf;
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
current_synchro_data.Tracking_timestamp_secs = d_sample_counter_seconds;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
current_synchro_data.Code_phase_secs = (double)d_code_phase_samples * (1/(float)d_fs_in);
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// debug: Second counter in channel 0
if (d_channel == 0)
{
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
}
else
{
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
}
}
}
else
{
*d_Early = gr_complex(0,0);
*d_Prompt = gr_complex(0,0);
*d_Late = gr_complex(0,0);
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
//std::cout<<output_items.size()<<std::endl;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
*out[0] = current_synchro_data;
//! When tracking is disabled an array of 1's is sent to maintain the TCP connection
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{1,1,1,1,1,1,1}};
d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
}
if(d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
float tmp_float;
prompt_I = (*d_Prompt).imag();
prompt_Q = (*d_Prompt).real();
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);
try
{
// EPR
d_dump_file.write((char*)&tmp_E, sizeof(float));
d_dump_file.write((char*)&tmp_P, sizeof(float));
d_dump_file.write((char*)&tmp_L, sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
d_dump_file.write((char*)&prompt_I, sizeof(float));
d_dump_file.write((char*)&prompt_Q, sizeof(float));
// PRN start sample stamp
//tmp_float=(float)d_sample_counter;
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
// carrier and code frequency
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
//PLL commands
d_dump_file.write((char*)&carr_error, sizeof(float));
d_dump_file.write((char*)&carr_nco, sizeof(float));
//DLL commands
d_dump_file.write((char*)&code_error, sizeof(float));
d_dump_file.write((char*)&code_nco, sizeof(float));
// CN0 and carrier lock test
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
// AUX vars (for debug purposes)
tmp_float=0;
d_dump_file.write((char*)&tmp_float, sizeof(float));
d_dump_file.write((char*)&d_sample_counter_seconds, sizeof(double));
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing trk dump file " << e.what() << std::endl;
}
}
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
d_sample_counter_seconds = d_sample_counter_seconds + ( ((double)d_current_prn_length_samples) / (double)d_fs_in );
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump==true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
std::cout << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure e)
{
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
}
}
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
}

209
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h Normal file
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@ -0,0 +1,209 @@
/*!
* \file gps_l1_ca_tcp_connector_tracking_cc.h
* \brief Interface of a TCP connector block based on code DLL + carrier PLL
* \author David Pubill, 2012. dpubill(at)cttc.es
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
* Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_CC_H
#define GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_CC_H
#include <fstream>
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/gr_block.h>
#include <gnuradio/gr_msg_queue.h>
//#include <gnuradio/gr_sync_decimator.h>
#include "concurrent_queue.h"
#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "correlator.h"
#include "tcp_communication.h"
class Gps_L1_Ca_Tcp_Connector_Tracking_cc;
typedef boost::shared_ptr<Gps_L1_Ca_Tcp_Connector_Tracking_cc>
gps_l1_ca_tcp_connector_tracking_cc_sptr;
gps_l1_ca_tcp_connector_tracking_cc_sptr
gps_l1_ca_tcp_connector_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
size_t port_ch0);
//class gps_l1_ca_tcp_connector_tracking_cc: public gr_sync_decimator
/*!
* \brief This class implements a DLL + PLL tracking loop block
*/
class Gps_L1_Ca_Tcp_Connector_Tracking_cc: public gr_block
{
public:
~Gps_L1_Ca_Tcp_Connector_Tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*
* \brief just like gr_block::general_work, only this arranges to call consume_each for you
*
* The user must override work to define the signal processing code
*/
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend gps_l1_ca_tcp_connector_tracking_cc_sptr
gps_l1_ca_tcp_connector_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
size_t port_ch0);
Gps_L1_Ca_Tcp_Connector_Tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
size_t port_ch0);
void update_local_code();
void update_local_carrier();
// tracking configuration vars
gr_msg_queue_sptr d_queue;
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;
long d_fs_in;
float d_early_late_spc_chips;
float d_code_phase_step_chips;
gr_complex* d_ca_code;
gr_complex* d_early_code;
gr_complex* d_late_code;
gr_complex* d_prompt_code;
gr_complex* d_carr_sign;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
// remaining code phase and carrier phase between tracking loops
float d_rem_code_phase_samples;
float d_next_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
// correlator
Correlator d_correlator;
// tracking vars
float d_code_freq_hz;
float d_carrier_doppler_hz;
float d_acc_carrier_phase_rad;
float d_code_phase_samples;
size_t d_port_ch0;
size_t d_port;
int d_listen_connection;
float d_control_id;
tcp_communication d_tcp_com;
//PRN period in samples
int d_current_prn_length_samples;
int d_next_prn_length_samples;
double d_sample_counter_seconds;
//processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
gr_complex* d_Prompt_buffer;
float d_carrier_lock_test;
float d_CN0_SNV_dB_Hz;
float d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// control vars
bool d_enable_tracking;
bool d_pull_in;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
};
#endif //GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_CC_H

1
src/algorithms/tracking/gnuradio_blocks/jamfile.jam
View File

@ -2,3 +2,4 @@ project : build-dir ../../../../build ;
obj gps_l1_ca_dll_pll_tracking_cc : gps_l1_ca_dll_pll_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_dll_fll_pll_tracking_cc : gps_l1_ca_dll_fll_pll_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_tcp_connector_tracking_cc : gps_l1_ca_tcp_connector_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;

1
src/algorithms/tracking/libs/jamfile.jam
View File

@ -7,3 +7,4 @@ obj tracking_2nd_PLL_filter : tracking_2nd_PLL_filter.cc ;
obj tracking_2nd_DLL_filter : tracking_2nd_DLL_filter.cc ;
obj correlator : correlator.cc ;
obj cordic : cordic.cc ;
obj tcp_communication : tcp_communication.cc ;

115
src/algorithms/tracking/libs/tcp_communication.cc Normal file
View File

@ -0,0 +1,115 @@
/*!
* \file tcp_communication.h
* \brief Library with the definition of the TCP communication class
* \author David Pubill, 2011. dpubill(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "tcp_packet_data.h"
#include "tcp_communication.h"
#include <iostream>
#include <string>
#define NUM_TX_VARIABLES 7
#define NUM_RX_VARIABLES 3
tcp_communication::tcp_communication() : tcp_socket_(io_service_){
}
tcp_communication::~tcp_communication(){
}
int tcp_communication::listen_tcp_connection(size_t d_port_)
{
try
{
//! Specify IP type and port
boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), d_port_);
boost::asio::ip::tcp::acceptor acceptor(io_service_, endpoint);
//! Reuse the IP address for each connection
acceptor.set_option(boost::asio::ip::tcp::acceptor::reuse_address(true));
std::cout << "Server ready on port " << d_port_ << std::endl;
//! Listen for a connection and accept it
acceptor.listen(12);
acceptor.accept(tcp_socket_);
std::cout << "Socket accepted on port " << d_port_ << std::endl;
}
catch(std::exception& e)
{
std::cerr << "Exception: " << e.what() << std::endl;
}
return false;
}
void tcp_communication::send_receive_tcp_packet(boost::array<float, NUM_TX_VARIABLES> buf, tcp_packet_data *tcp_data_)
{
int controlc = 0;
boost::array<float, NUM_RX_VARIABLES> readbuf;
float d_control_id_ = buf.data()[6];
try
{
//! Send a TCP packet
tcp_socket_.write_some(boost::asio::buffer(buf));
//! Read the received TCP packet
tcp_socket_.read_some(boost::asio::buffer(readbuf));
//! Recover the variables received
tcp_data_->proc_pack_code_error = readbuf.data()[0];
tcp_data_->proc_pack_carr_error = readbuf.data()[1];
//! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
if (d_control_id_ != readbuf.data()[2])
{
throw "Packet error!";
}
}
catch(std::exception& e)
{
std::cerr << "Exception: " << e.what() << ". Please press Ctrl+C to end the program." << std::endl;
std::cin >> controlc;
}
return;
}
void tcp_communication::close_tcp_connection(size_t d_port_)
{
//! Close the TCP connection
tcp_socket_.close();
std::cout << "Socket closed on port " << d_port_ << std::endl;
return;
}

54
src/algorithms/tracking/libs/tcp_communication.h Normal file
View File

@ -0,0 +1,54 @@
/*!
* \file tcp_communication.h
* \brief Library with the definition of the TCP communication class
* \author David Pubill, 2011. dpubill(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef TCP_COMMUNICATION_H_
#define TCP_COMMUNICATION_H_
#include <boost/asio.hpp>
#include "tcp_packet_data.h"
class tcp_communication
{
public:
tcp_communication();
~tcp_communication();
int listen_tcp_connection(size_t d_port_);
void send_receive_tcp_packet(boost::array<float, 7> buf, tcp_packet_data *tcp_data_);
void close_tcp_connection(size_t d_port_);
private:
boost::asio::io_service io_service_;
boost::asio::ip::tcp::socket tcp_socket_;
};
#endif

46
src/algorithms/tracking/libs/tcp_packet_data.h Normal file
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@ -0,0 +1,46 @@
/*!
* \file tcp_packet_data.h
* \brief Library with the definition of the TCP packet data class
* \author David Pubill, 2011. dpubill(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef TCP_PACKET_DATA_H_
#define TCP_PACKET_DATA_H_
class tcp_packet_data
{
public:
tcp_packet_data();
float proc_pack_code_error;
float proc_pack_carr_error;
~tcp_packet_data();
};
#endif

6
src/core/receiver/gnss_block_factory.cc
View File

@ -56,6 +56,7 @@
#include "gps_l1_ca_tong_pcps_acquisition.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_fll_pll_tracking.h"
#include "gps_l1_ca_tcp_connector_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "gps_l1_ca_observables.h"
#include "gps_l1_ca_pvt.h"
@ -303,6 +304,11 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
block = new GpsL1CaDllFllPllTracking(configuration, role, in_streams,
out_streams, queue);
}
else if (implementation.compare("GPS_L1_CA_TCP_CONNECTOR_Tracking") == 0)
{
block = new GpsL1CaTcpConnectorTracking(configuration, role, in_streams,
out_streams, queue);
}
// TELEMETRY DECODERS ----------------------------------------------------------

3
src/main/jamfile.jam
View File

@ -33,8 +33,10 @@ exe gnss-sdr : main.cc
../algorithms/PVT/gnuradio_blocks//gps_l1_ca_pvt_cc
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_tracking
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
../algorithms/tracking/libs//tracking_discriminators
../algorithms/tracking/libs//CN_estimators
../algorithms/tracking/libs//tracking_FLL_PLL_filter
@ -42,6 +44,7 @@ exe gnss-sdr : main.cc
../algorithms/tracking/libs//tracking_2nd_DLL_filter
../algorithms/tracking/libs//correlator
../algorithms/tracking/libs//cordic
../algorithms/tracking/libs//tcp_communication
../core/libs//INIReader
../core/libs//ini
../core/libs//string_converter

3
src/tests/jamfile.jam
View File

@ -34,8 +34,10 @@ exe run_tests : test_main.cc
../algorithms/PVT/gnuradio_blocks//gps_l1_ca_pvt_cc
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_tracking
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
../algorithms/tracking/libs//tracking_discriminators
../algorithms/tracking/libs//CN_estimators
../algorithms/tracking/libs//tracking_FLL_PLL_filter
@ -43,6 +45,7 @@ exe run_tests : test_main.cc
../algorithms/tracking/libs//tracking_2nd_DLL_filter
../algorithms/tracking/libs//correlator
../algorithms/tracking/libs//cordic
../algorithms/tracking/libs//tcp_communication
../core/libs//INIReader
../core/libs//ini
../core/libs//string_converter

113
src/utils/simulink/README_gnss_sdr_tcp_connector_tracking.txt Normal file
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@ -0,0 +1,113 @@
/*!
* \file README.txt
* \brief How to add a block to the Simulink Library repository of Matlab
* and how to use the "gnss_sdr_tcp_connector_tracking_start.m" script.
*
* \author David Pubill, 2012. dpubill(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
IMPORTANT: Please, to use this tracking check the configuration file called
'gnss-sdr_tcp_connector_tracking.conf'. There are two major changes:
1.- Choose the [GPS_L1_CA_TCP_CONNECTOR_Tracking] tracking algorithm.
2.- Choose a tcp port for channel 0 (e.g. Tracking.port_ch0=2060;)
A) HOW TO add a block to the Simulink Library repository of your Matlab installation
---------------------------------------------------------------------------------
(These steps should be followed only the first time)
1.- Copy the content of this folder to a folder accessible from Simulink.
2.- In the Matlab Command Window type:
>> simulink;
to open the Simulink Library Browser.
3.- Right-click on the Simulink/User-Defined Functions of the Simulink
Library menu, and click on "Open User-Defined Functions library"
(Window_1)
4.- Open the library model 'gnss_sdr_tcp_connector_tracking_lib.mdl'(Window_2)
5.- Drag and drop the gnss_sdr_tcp_connector_tracking block from Window_2
to Window_1. A new message should appear: "This library is locked. The
action performed requires it to be unlocked". Then, click on the "Unlock"
button (the block will be copied) and close Window_2.
6.- On Window_1 save the "simulink/User-Defined Functions" library.
To do that go to "File > Save". Then, close Window_1.
7.- From "Simulink Library Browser" window, press F5 to refresh and generate
the new Simulink Library repository. This may take a few seconds, and
this finish the installation of the custom Simulink block.
B) HOW TO use the "gnss_sdr_tcp_connector_tracking_start.m" script:
----------------------------------------------------------------
----------------------- ------------------ -----------------------
| | | | | |
| gnss_sdr_tcp_ | | | | gnss_sdr_tcp_ |
| connector_tracking_ | --> | Core | --> | connector_tracking_ |
| receive | | | | send |
| | | | | |
----------------------- ------------------ -----------------------
The 'gnss_sdr_tcp_connector_tracking_start.m' is the script that builds and
configures a simulink model for interacting with the GNSS-SDR platform
through a TCP communication. 'User parameters' can be modified but, by
default, these are the values assigned:
%User parameters
host = '84.88.61.86'; //Remote IP address (GNSS-SDR computer IP)
port = 2060; //Remote port (GNSS-SDR computer port for Ch0)
datasize_RX = '28'; //Data size
timeout = '10'; //Timeout in seconds
'host', 'port' and 'timeout' parameters configure both 'gnss_sdr_tcp_connector_tracking_receive'
and 'gnss_sdr_tcp_connector_tracking_send' blocks. The 'port' parameter
sets the base port number for the first channel (ch0). Each of the
subsequent channels increases their port by one unit (e.g. ch0_port=2060,
ch1_port=2061,...)
'datasize_RX' is the size (in bytes) of the received TCP packet data field.
For example, if the number of float (4 bytes) variables to be received from
the the GNSS-SDR computer is 7, this parameter must be set to 7*4=28.
To run the script just type in the Matlab Command window the following:
>>gnss_sdr_tcp_connector_tracking_start(N);
where N must match the number of channels configured in the GNSS-SDR
platform.

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% /*!
% * \file gnss_sdr_tcp_connector_tracking_start.m
% * \brief This MATLAB function builds and configures a simulink model
% * for interacting with the GNSS-SDR platform through a TCP communication.
% * \author David Pubill, 2012. dpubill(at)cttc.es
% *
% * ----------------------------------------------------------------------
% *
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * ----------------------------------------------------------------------
% */
function gnss_sdr_tcp_connector_tracking_start(num_channels)
%User parameters
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
port = 2060; %Remote port (GNSS-SDR computer port for Ch0)
datasize_RX = '28'; %Data size
timeout = '10'; %Timeout in seconds
% Layout coordinates for the first gnss_sdr_tcp_connector_tracking
% block and offset definitions
X0 = 20;
X1 = 170;
Y0 = 20;
Y1 = 140;
X_offset = 200;
Y_offset = 160;
%Create a Simulink model
simulink('open');
new_system('gnss_sdr_tcp_connector_tracking_aux');
open_system('gnss_sdr_tcp_connector_tracking_aux');
%Set parameters to configure the model Solver
set_param('gnss_sdr_tcp_connector_tracking_aux',...
'SolverType', 'Fixed-step', 'Solver', 'FixedStepDiscrete',...
'FixedStep', '100', 'StopTime', 'inf');
%Set parameters to avoid warnings in the Command Window
set_param('gnss_sdr_tcp_connector_tracking_aux',...
'InheritedTsInSrcMsg', 'none');
warning('off', 'Simulink:Commands:SetParamLinkChangeWarn');
%Block generation from the Simulink Library
for i=0:num_channels-1;
name_new_block=['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',...
num2str(i)];
add_block('simulink/User-Defined Functions/gnss_sdr_tcp_connector_tracking',...
name_new_block);
name_RX = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',...
num2str(i),'/gnss_sdr_tcp_connector_tracking_receive'];
set_param(name_RX, 'Port', num2str(port+i), 'Host', host,...
'DataSize', datasize_RX, 'Timeout', timeout);
name_TX = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',...
num2str(i),'/gnss_sdr_tcp_connector_tracking_send'];
set_param(name_TX, 'Port', num2str(port+i), 'Host', host,...
'Timeout', timeout);
%New layout coordinates for each block
X2 = X0 + floor(i/4)*X_offset;
X3 = X1 + floor(i/4)*X_offset;
Y2 = Y0 + (i-4*floor(i/4))*Y_offset;
Y3 = Y1 + (i-4*floor(i/4))*Y_offset;
set_param(name_new_block, 'Position', [X2 Y2 X3 Y3]);
end
save_system('gnss_sdr_tcp_connector_tracking_aux', 'gnss_sdr_tcp_connector_tracking_ready');
simulink('close');
%Start Simulink simulation
set_param('gnss_sdr_tcp_connector_tracking_ready','simulationcommand','start');
end