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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into fpga_ad-fmcomms5_compatibility

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This commit is contained in:
Marc Majoral 2022-05-23 17:52:34 +02:00
commit a1a4666399
31 changed files with 1937 additions and 277 deletions
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2
CMakeLists.txt
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@ -321,7 +321,7 @@ set(GNSSSDR_PROTOBUF_MIN_VERSION "3.0.0")
################################################################################
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
set(GNSSSDR_GLOG_LOCAL_VERSION "0.6.0")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "11.0.x")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "11.1.x")
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0) OR
(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0))
set(GNSSSDR_GTEST_LOCAL_VERSION "1.10.x")

6
README.md
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@ -381,9 +381,9 @@ $ sudo apt-get install libblas-dev liblapack-dev # For Debian/Ubuntu/Linux
$ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL
$ sudo zypper install lapack-devel blas-devel # For OpenSUSE
$ sudo pacman -S blas lapack # For Arch Linux
$ wget https://sourceforge.net/projects/arma/files/armadillo-11.0.1.tar.xz
$ tar xvfz armadillo-11.0.1.tar.xz
$ cd armadillo-11.0.1
$ wget https://sourceforge.net/projects/arma/files/armadillo-11.1.1.tar.xz
$ tar xvfz armadillo-11.1.1.tar.xz
$ cd armadillo-11.1.1
$ cmake .
$ make
$ sudo make install

9
docs/CHANGELOG.md
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@ -26,9 +26,16 @@ All notable changes to GNSS-SDR will be documented in this file.
### Improvements in Usability:
- Fixed large GLONASS velocity errors when using the
- Fixed large GLONASS velocity errors and the extended correlator when using the
`GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking` and
`GLONASS_L2_CA_DLL_PLL_C_Aid_Tracking` implementations.
- Added a over-the-wire sample format (that is, the format used between the
device and the UHD) configuration parameter for the `UHD_Signal_Source`, thus
allowing to select the `sc8` format instead of the default `sc16`. This would
reduce the dynamic range and increase quantization noise, but also reduce the
load on the data link and thus allow more bandwidth.
- Added gain setting and reading for the XTRX board when using the
`Osmosdr_Signal_Source` implementation of a `SignalSource`.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/

24
src/algorithms/PVT/libs/has_simple_printer.cc
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@ -183,7 +183,7 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << indent << indent << "Code Bias Flag: " << static_cast<float>(has_data->header.code_bias_flag) << '\n';
d_has_file << indent << indent << "Phase Bias Flag: " << static_cast<float>(has_data->header.phase_bias_flag) << '\n';
d_has_file << indent << indent << "Mask ID: " << static_cast<float>(has_data->header.mask_id) << '\n';
d_has_file << indent << indent << "IOD Set ID: " << static_cast<float>(has_data->header.iod_id) << "\n\n";
d_has_file << indent << indent << "IOD Set ID: " << static_cast<float>(has_data->header.iod_set_id) << "\n\n";
d_has_file << indent << "MT1 Body\n";
d_has_file << indent << "--------\n";
@ -240,7 +240,7 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_orbit_corrections) << '\n';
d_has_file << indent << indent << "GNSS IOD: " << print_vector(has_data->gnss_iod) << '\n';
d_has_file << indent << indent << "Delta Radial [m]: " << print_vector(has_data->delta_radial, HAS_MSG_DELTA_RADIAL_SCALE_FACTOR) << '\n';
d_has_file << indent << indent << "Delta Along Track [m]: " << print_vector(has_data->delta_along_track, HAS_MSG_DELTA_ALONG_TRACK_SCALE_FACTOR) << '\n';
d_has_file << indent << indent << "Delta In-Track [m]: " << print_vector(has_data->delta_in_track, HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR) << '\n';
d_has_file << indent << indent << "Delta Cross Track [m]: " << print_vector(has_data->delta_cross_track, HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR) << '\n';
}
@ -250,8 +250,8 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << indent << indent << "Clock Full-set Corrections Block\n";
d_has_file << indent << indent << "--------------------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_fullset_corrections) << '\n';
d_has_file << indent << indent << "Delta Clock C0 Multiplier: " << print_vector(has_data->delta_clock_c0_multiplier) << '\n';
d_has_file << indent << indent << "Delta Clock C0 [m]: " << print_vector(has_data->delta_clock_c0, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR) << '\n';
d_has_file << indent << indent << "Delta Clock Multiplier: " << print_vector(has_data->delta_clock_multiplier) << '\n';
d_has_file << indent << indent << "Delta Clock Correction [m]: " << print_vector(has_data->delta_clock_correction, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR) << '\n';
}
if (has_data->header.clock_subset_flag == true)
@ -260,12 +260,12 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << indent << indent << "Clock Subset Corrections Block\n";
d_has_file << indent << indent << "------------------------------\n";
d_has_file << indent << indent << "Validity interval: " << static_cast<float>(has_data->validity_interval_index_clock_subset_corrections) << '\n';
d_has_file << indent << indent << "Nsysprime: " << static_cast<float>(has_data->Nsysprime) << '\n';
d_has_file << indent << indent << "Nsys_sub: " << static_cast<float>(has_data->Nsys_sub) << '\n';
d_has_file << indent << indent << "GNSS ID: " << print_vector(has_data->gnss_id_clock_subset) << '\n';
d_has_file << indent << indent << "Delta Clock C0 Multiplier: " << print_vector(has_data->delta_clock_c0_multiplier_clock_subset) << '\n';
d_has_file << indent << indent << "Delta Clock Multiplier: " << print_vector(has_data->delta_clock_multiplier_clock_subset) << '\n';
d_has_file << indent << indent << "Satellite sub-mask: ";
int Nsatprime = 0;
for (uint8_t k = 0; k < has_data->Nsysprime; k++)
int Nsat_sub = 0;
for (uint8_t k = 0; k < has_data->Nsys_sub; k++)
{
auto it = std::find(has_data->gnss_id_mask.begin(), has_data->gnss_id_mask.end(), has_data->gnss_id_clock_subset[k]);
if (it != has_data->gnss_id_mask.end())
@ -290,14 +290,14 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
mask <<= 1;
}
d_has_file << binary << " ";
Nsatprime += std::count(binary.begin(), binary.end(), '1');
Nsat_sub += std::count(binary.begin(), binary.end(), '1');
}
}
d_has_file << '\n';
d_has_file << " Nsat in subset = " << Nsatprime << '\n';
const std::string text("Delta Clock C0 [m]: ");
d_has_file << " Nsat in subset = " << Nsat_sub << '\n';
const std::string text("Delta Clock Correction [m]: ");
const std::string filler(indent.length() * 2 + text.length(), ' ');
d_has_file << indent << indent << text << print_matrix(has_data->delta_clock_c0_clock_subset, filler, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
d_has_file << indent << indent << text << print_matrix(has_data->delta_clock_correction_clock_subset, filler, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
}
if (has_data->header.code_bias_flag == true)

935
src/algorithms/PVT/libs/rtcm.cc
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@ -31,7 +31,7 @@
#include <algorithm> // for std::reverse
#include <cmath> // for std::fmod, std::lround
#include <cstdlib> // for strtol
#include <iostream> // for cout
#include <iostream> // for std::cout
#include <sstream> // for std::stringstream
@ -3249,6 +3249,619 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
return signal_data;
}
// SSR
uint8_t Rtcm::ssr_update_interval(uint16_t validity_seconds) const
{
uint8_t ssr_update_interval = 0;
if (validity_seconds > 0)
{
if (validity_seconds < 2)
{
ssr_update_interval = 0;
}
else if (validity_seconds < 5)
{
ssr_update_interval = 1;
}
else if (validity_seconds < 10)
{
ssr_update_interval = 2;
}
else if (validity_seconds < 15)
{
ssr_update_interval = 3;
}
else if (validity_seconds < 30)
{
ssr_update_interval = 4;
}
else if (validity_seconds < 60)
{
ssr_update_interval = 5;
}
else if (validity_seconds < 120)
{
ssr_update_interval = 6;
}
else if (validity_seconds < 240)
{
ssr_update_interval = 7;
}
else if (validity_seconds < 300)
{
ssr_update_interval = 8;
}
else if (validity_seconds < 600)
{
ssr_update_interval = 9;
}
else if (validity_seconds < 900)
{
ssr_update_interval = 10;
}
else if (validity_seconds < 1800)
{
ssr_update_interval = 11;
}
else if (validity_seconds < 3600)
{
ssr_update_interval = 12;
}
else if (validity_seconds < 7200)
{
ssr_update_interval = 13;
}
else if (validity_seconds < 10800)
{
ssr_update_interval = 14;
}
else
{
ssr_update_interval = 15;
}
}
return ssr_update_interval;
}
std::vector<std::string> Rtcm::print_IGM01(const Galileo_HAS_data& has_data)
{
std::vector<std::string> msgs;
const uint8_t nsys = has_data.Nsys;
bool ssr_multiple_msg_indicator = true;
for (uint8_t sys = 0; sys < nsys; sys++)
{
if (sys == nsys - 1)
{
ssr_multiple_msg_indicator = false; // last message of a sequence
}
const std::string header = Rtcm::get_IGM01_header(has_data, sys, ssr_multiple_msg_indicator);
const std::string sat_data = Rtcm::get_IGM01_content_sat(has_data, sys);
std::string message = build_message(header + sat_data);
if (server_is_running)
{
rtcm_message_queue->push(message);
}
msgs.push_back(message);
}
return msgs;
}
std::vector<std::string> Rtcm::print_IGM02(const Galileo_HAS_data& has_data)
{
std::vector<std::string> msgs;
const uint8_t nsys = has_data.Nsys;
bool ssr_multiple_msg_indicator = true;
for (uint8_t sys = 0; sys < nsys; sys++)
{
if (sys == nsys - 1)
{
ssr_multiple_msg_indicator = false; // last message of a sequence
}
const std::string header = Rtcm::get_IGM02_header(has_data, sys, ssr_multiple_msg_indicator);
const std::string sat_data = Rtcm::get_IGM02_content_sat(has_data, sys);
std::string message = build_message(header + sat_data);
if (server_is_running)
{
rtcm_message_queue->push(message);
}
msgs.push_back(message);
}
return msgs;
}
std::vector<std::string> Rtcm::print_IGM03(const Galileo_HAS_data& has_data)
{
std::vector<std::string> msgs;
const uint8_t nsys = has_data.Nsys;
bool ssr_multiple_msg_indicator = true;
for (uint8_t sys = 0; sys < nsys; sys++)
{
if (sys == nsys - 1)
{
ssr_multiple_msg_indicator = false; // last message of a sequence
}
const std::string header = Rtcm::get_IGM03_header(has_data, sys, ssr_multiple_msg_indicator);
const std::string sat_data = Rtcm::get_IGM03_content_sat(has_data, sys);
std::string message = build_message(header + sat_data);
if (server_is_running)
{
rtcm_message_queue->push(message);
}
msgs.push_back(message);
}
return msgs;
}
std::vector<std::string> Rtcm::print_IGM05(const Galileo_HAS_data& has_data)
{
std::vector<std::string> msgs;
const uint8_t nsys = has_data.Nsys;
bool ssr_multiple_msg_indicator = true;
for (uint8_t sys = 0; sys < nsys; sys++)
{
if (sys == nsys - 1)
{
ssr_multiple_msg_indicator = false; // last message of a sequence
}
const std::string header = Rtcm::get_IGM05_header(has_data, sys, ssr_multiple_msg_indicator);
const std::string sat_data = Rtcm::get_IGM05_content_sat(has_data, sys);
if (!sat_data.empty())
{
std::string message = build_message(header + sat_data);
if (server_is_running)
{
rtcm_message_queue->push(message);
}
msgs.push_back(message);
}
}
return msgs;
}
std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
bool regional_indicator = false; // ?
uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS
{
subtype_msg_number = 21;
}
else if (has_data.gnss_id_mask[nsys] == 2) // Galileo
{
subtype_msg_number = 61;
}
uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
uint8_t ssr_update_interval_ = ssr_update_interval(validity_seconds);
uint8_t Nsat = has_data.get_num_satellites()[nsys];
Rtcm::set_DF002(4076); // Always “4076” for IGS Proprietary Messages
Rtcm::set_IDF001(igm_version);
Rtcm::set_IDF002(subtype_msg_number);
Rtcm::set_IDF003(tow);
Rtcm::set_IDF004(ssr_update_interval_);
Rtcm::set_IDF005(ssr_multiple_msg_indicator);
Rtcm::set_IDF007(iod_ssr);
Rtcm::set_IDF008(ssr_provider_id);
Rtcm::set_IDF009(ssr_solution_id);
Rtcm::set_IDF006(regional_indicator);
Rtcm::set_IDF010(Nsat);
header += DF002.to_string() + IDF001.to_string() + IDF002.to_string() +
IDF003.to_string() + IDF004.to_string() + IDF005.to_string() +
IDF007.to_string() + IDF008.to_string() + IDF009.to_string() +
IDF006.to_string() + IDF010.to_string();
return header;
}
std::string Rtcm::get_IGM01_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index)
{
std::string content;
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index);
std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index);
std::vector<float> delta_orbit_in_track_m = has_data.get_delta_in_track_m(nsys_index);
std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index);
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
for (uint8_t sat = 0; sat < num_sats_in_this_system; sat++)
{
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs
Rtcm::set_IDF013(delta_orbit_radial_m[sat]);
Rtcm::set_IDF014(delta_orbit_in_track_m[sat]);
Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s
Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]);
Rtcm::set_IDF017(0.0); // dot_orbit_delta_in_track_m_s
Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s
content += IDF011.to_string() + IDF012.to_string() + IDF013.to_string() +
IDF014.to_string() + IDF016.to_string() + IDF015.to_string() +
IDF017.to_string() + IDF018.to_string();
}
return content;
}
std::string Rtcm::get_IGM02_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS
{
subtype_msg_number = 22;
}
else if (has_data.gnss_id_mask[nsys] == 2) // Galileo
{
subtype_msg_number = 62;
}
uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
uint8_t ssr_update_interval_ = ssr_update_interval(validity_seconds);
uint8_t Nsat = has_data.get_num_satellites()[nsys];
Rtcm::set_DF002(4076); // Always “4076” for IGS Proprietary Messages
Rtcm::set_IDF001(igm_version);
Rtcm::set_IDF002(subtype_msg_number);
Rtcm::set_IDF003(tow);
Rtcm::set_IDF004(ssr_update_interval_);
Rtcm::set_IDF005(ssr_multiple_msg_indicator);
Rtcm::set_IDF007(iod_ssr);
Rtcm::set_IDF008(ssr_provider_id);
Rtcm::set_IDF009(ssr_solution_id);
Rtcm::set_IDF010(Nsat);
header += DF002.to_string() + IDF001.to_string() + IDF002.to_string() +
IDF003.to_string() + IDF004.to_string() + IDF005.to_string() +
IDF007.to_string() + IDF008.to_string() + IDF009.to_string() +
IDF010.to_string();
return header;
}
std::string Rtcm::get_IGM02_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index)
{
std::string content;
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<float> delta_clock_c0 = has_data.get_delta_clock_correction_m(nsys_index);
std::vector<float> delta_clock_c1(num_sats_in_this_system);
std::vector<float> delta_clock_c2(num_sats_in_this_system);
for (uint8_t sat = 0; sat < num_sats_in_this_system; sat++)
{
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF019(delta_clock_c0[sat]);
Rtcm::set_IDF020(delta_clock_c1[sat]);
Rtcm::set_IDF021(delta_clock_c2[sat]);
content += IDF011.to_string() + IDF019.to_string() + IDF020.to_string() +
IDF021.to_string();
}
return content;
}
std::string Rtcm::get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
bool regional_indicator = false; // ?
uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS
{
subtype_msg_number = 23;
}
else if (has_data.gnss_id_mask[nsys] == 2) // Galileo
{
subtype_msg_number = 63;
}
uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
uint8_t ssr_update_interval_ = ssr_update_interval(validity_seconds);
uint8_t Nsat = has_data.get_num_satellites()[nsys];
Rtcm::set_DF002(4076); // Always “4076” for IGS Proprietary Messages
Rtcm::set_IDF001(igm_version);
Rtcm::set_IDF002(subtype_msg_number);
Rtcm::set_IDF003(tow);
Rtcm::set_IDF004(ssr_update_interval_);
Rtcm::set_IDF005(ssr_multiple_msg_indicator);
Rtcm::set_IDF007(iod_ssr);
Rtcm::set_IDF008(ssr_provider_id);
Rtcm::set_IDF009(ssr_solution_id);
Rtcm::set_IDF006(regional_indicator);
Rtcm::set_IDF010(Nsat);
header += DF002.to_string() + IDF001.to_string() + IDF002.to_string() +
IDF003.to_string() + IDF004.to_string() + IDF005.to_string() +
IDF007.to_string() + IDF008.to_string() + IDF009.to_string() +
IDF006.to_string() + IDF010.to_string();
return header;
}
std::string Rtcm::get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index)
{
std::string content;
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<uint16_t> gnss_iod = has_data.get_gnss_iod(nsys_index);
std::vector<float> delta_orbit_radial_m = has_data.get_delta_radial_m(nsys_index);
std::vector<float> delta_orbit_in_track_m = has_data.get_delta_in_track_m(nsys_index);
std::vector<float> delta_orbit_cross_track_m = has_data.get_delta_cross_track_m(nsys_index);
std::vector<float> delta_clock_c0 = has_data.get_delta_clock_correction_m(nsys_index);
std::vector<float> delta_clock_c1(num_sats_in_this_system);
std::vector<float> delta_clock_c2(num_sats_in_this_system);
for (uint8_t sat = 0; sat < num_sats_in_this_system; sat++)
{
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF012(static_cast<uint8_t>(gnss_iod[sat] % 255)); // 8 LSBs
Rtcm::set_IDF013(delta_orbit_radial_m[sat]);
Rtcm::set_IDF014(delta_orbit_in_track_m[sat]);
Rtcm::set_IDF015(delta_orbit_cross_track_m[sat]);
Rtcm::set_IDF016(0.0); // dot_orbit_delta_track_m_s
Rtcm::set_IDF017(0.0); // dot_orbit_delta_in_track_m_s
Rtcm::set_IDF018(0.0); // dot_orbit_delta_cross_track_m_s
Rtcm::set_IDF019(delta_clock_c0[sat]);
Rtcm::set_IDF020(delta_clock_c1[sat]);
Rtcm::set_IDF021(delta_clock_c2[sat]);
content += IDF011.to_string() + IDF012.to_string() + IDF013.to_string() +
IDF014.to_string() + IDF015.to_string() + IDF016.to_string() +
IDF017.to_string() + IDF018.to_string() + DF019.to_string() +
IDF020.to_string() + IDF021.to_string();
}
return content;
}
std::string Rtcm::get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
{
std::string header;
uint32_t tow = 0; // TODO
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
auto iod_ssr = has_data.header.iod_set_id % 15; // ?? HAS IOD is 0-31
uint8_t subtype_msg_number = 0;
if (has_data.gnss_id_mask[nsys] == 0) // GPS
{
subtype_msg_number = 25;
}
else if (has_data.gnss_id_mask[nsys] == 2) // Galileo
{
subtype_msg_number = 65;
}
uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
uint8_t ssr_update_interval_ = ssr_update_interval(validity_seconds);
uint8_t Nsat = has_data.get_num_satellites()[nsys];
Rtcm::set_DF002(4076); // Always “4076” for IGS Proprietary Messages
Rtcm::set_IDF001(igm_version);
Rtcm::set_IDF002(subtype_msg_number);
Rtcm::set_IDF003(tow);
Rtcm::set_IDF004(ssr_update_interval_);
Rtcm::set_IDF005(ssr_multiple_msg_indicator);
Rtcm::set_IDF007(iod_ssr);
Rtcm::set_IDF008(ssr_provider_id);
Rtcm::set_IDF009(ssr_solution_id);
Rtcm::set_IDF010(Nsat);
header += DF002.to_string() + IDF001.to_string() + IDF002.to_string() +
IDF003.to_string() + IDF004.to_string() + IDF005.to_string() +
IDF007.to_string() + IDF008.to_string() + IDF009.to_string() +
IDF010.to_string();
return header;
}
std::string Rtcm::get_IGM05_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index)
{
std::string content;
const uint8_t num_sats_in_this_system = has_data.get_num_satellites()[nsys_index];
std::vector<int> prn = has_data.get_PRNs_in_mask(nsys_index);
std::vector<std::vector<float>> code_bias_m = has_data.get_code_bias_m();
for (uint8_t sat = 0; sat < num_sats_in_this_system; sat++)
{
uint8_t num_bias_processed = has_data.get_signals_in_mask(nsys_index).size();
uint8_t valid_num_bias_processed = 0;
std::vector<uint8_t> gnss_signal_tracking_mode_id_v;
std::vector<bool> valid_bias_v;
for (uint8_t code = 0; code < num_bias_processed; code++)
{
std::string code_string = has_data.get_signals_in_mask(nsys_index)[code];
if (has_data.gnss_id_mask[nsys_index] == 0) // GPS
{
if (code_string == "L1 C/A")
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L1C(D)")
{
gnss_signal_tracking_mode_id_v.push_back(3);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L1C(P)")
{
gnss_signal_tracking_mode_id_v.push_back(4);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L2 CM")
{
gnss_signal_tracking_mode_id_v.push_back(7);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L2 CL")
{
gnss_signal_tracking_mode_id_v.push_back(8);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L5 I")
{
gnss_signal_tracking_mode_id_v.push_back(14);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "L5 Q")
{
gnss_signal_tracking_mode_id_v.push_back(15);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(false);
}
}
else if (has_data.gnss_id_mask[nsys_index] == 2) // Galileo
{
if (code_string == "E1-B I/NAV OS")
{
gnss_signal_tracking_mode_id_v.push_back(1);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E1-C")
{
gnss_signal_tracking_mode_id_v.push_back(2);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5a-I F/NAV OS")
{
gnss_signal_tracking_mode_id_v.push_back(5);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5a-Q")
{
gnss_signal_tracking_mode_id_v.push_back(6);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5b-I I/NAV OS")
{
gnss_signal_tracking_mode_id_v.push_back(8);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E5b-Q")
{
gnss_signal_tracking_mode_id_v.push_back(9);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E6-B C/NAV HAS")
{
gnss_signal_tracking_mode_id_v.push_back(15);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else if (code_string == "E6-C")
{
gnss_signal_tracking_mode_id_v.push_back(16);
valid_bias_v.push_back(true);
valid_num_bias_processed++;
}
else
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(false);
}
}
else
{
gnss_signal_tracking_mode_id_v.push_back(0);
valid_bias_v.push_back(false);
}
}
if (valid_num_bias_processed > 0)
{
Rtcm::set_IDF011(static_cast<uint8_t>(prn[sat]));
Rtcm::set_IDF023(valid_num_bias_processed);
content += IDF011.to_string() + IDF023.to_string();
uint8_t num_sats_in_previous_systems = 0;
for (uint8_t nsys = 0; nsys < nsys_index; nsys++)
{
num_sats_in_previous_systems += has_data.get_num_satellites()[nsys];
}
uint8_t sat_index = sat + num_sats_in_previous_systems;
for (uint8_t code = 0; code < num_bias_processed; code++)
{
if (valid_bias_v[code] == true)
{
Rtcm::set_IDF024(gnss_signal_tracking_mode_id_v[code]);
Rtcm::set_IDF025(code_bias_m[sat_index][code]);
content += DF024.to_string() + IDF025.to_string();
}
}
}
}
return content;
}
// *****************************************************************************************************
// Some utilities
@ -5733,3 +6346,323 @@ int32_t Rtcm::set_DF420(const Gnss_Synchro& gnss_synchro __attribute__((unused))
DF420 = std::bitset<1>(half_cycle_ambiguity_indicator);
return 0;
}
// IGS State Space Representation (SSR) data fields
// see https://files.igs.org/pub/data/format/igs_ssr_v1.pdf
void Rtcm::set_IDF001(uint8_t version)
{
const uint8_t max_value = 7;
uint8_t igm_version = version;
if (igm_version > max_value) // not defined
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad IGM/IM Version";
igm_version = 0;
}
IDF001 = std::bitset<3>(igm_version);
}
void Rtcm::set_IDF002(uint8_t igs_message_number)
{
IDF002 = std::bitset<8>(igs_message_number);
}
void Rtcm::set_IDF003(uint32_t tow)
{
const uint32_t max_value = 604799;
uint32_t ssr_epoch_time = tow;
if (ssr_epoch_time > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad SSR Epoch Time";
ssr_epoch_time = 0;
}
IDF003 = std::bitset<20>(ssr_epoch_time);
}
void Rtcm::set_IDF004(uint8_t ssr_update_interval)
{
const uint8_t max_value = 15;
uint8_t update_interval = ssr_update_interval;
if (update_interval > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad SSR Update Interval";
update_interval = 0;
}
IDF004 = std::bitset<4>(update_interval);
}
void Rtcm::set_IDF005(bool ssr_multiple_message_indicator)
{
IDF005 = std::bitset<1>(ssr_multiple_message_indicator);
}
void Rtcm::set_IDF006(bool regional_indicator)
{
IDF006 = std::bitset<1>(regional_indicator);
}
void Rtcm::set_IDF007(uint8_t ssr_iod)
{
const uint8_t max_value = 15;
uint8_t iod = ssr_iod;
if (iod > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad IOD SSR";
iod = 0;
}
IDF007 = std::bitset<4>(iod);
}
void Rtcm::set_IDF008(uint16_t ssr_provider_id)
{
IDF008 = std::bitset<16>(ssr_provider_id);
}
void Rtcm::set_IDF009(uint8_t ssr_solution_id)
{
const uint8_t max_value = 15;
uint8_t sol_id = ssr_solution_id;
if (sol_id > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad SSR Solution ID";
sol_id = 0;
}
IDF009 = std::bitset<4>(sol_id);
}
void Rtcm::set_IDF010(uint8_t num_satellites)
{
const uint8_t max_value = 63;
uint8_t num_sats = num_satellites;
if (num_sats > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad number of satellites";
num_sats = 0;
}
IDF010 = std::bitset<6>(num_sats);
}
void Rtcm::set_IDF011(uint8_t gnss_satellite_id)
{
const uint8_t max_value = 63;
uint8_t sat_id = gnss_satellite_id;
if (sat_id > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad GNSS Satellite ID";
sat_id = 0;
}
IDF011 = std::bitset<6>(sat_id);
}
void Rtcm::set_IDF012(uint8_t gnss_iod)
{
IDF012 = std::bitset<8>(gnss_iod);
}
void Rtcm::set_IDF013(float delta_orbit_radial_m)
{
const float scale = 1.0e4;
const int32_t max_value = 2097151;
auto delta_orbit_radial = static_cast<int32_t>((delta_orbit_radial_m * scale));
if (delta_orbit_radial > max_value)
{
delta_orbit_radial = max_value;
}
if (delta_orbit_radial < -max_value)
{
delta_orbit_radial = -max_value;
}
IDF013 = std::bitset<22>(delta_orbit_radial);
}
void Rtcm::set_IDF014(float delta_orbit_in_track_m)
{
const float scale = 2500.0;
const int32_t max_value = 524287;
auto delta_orbit_in_track = static_cast<int32_t>((delta_orbit_in_track_m * scale));
if (delta_orbit_in_track > max_value)
{
delta_orbit_in_track = max_value;
}
if (delta_orbit_in_track < -max_value)
{
delta_orbit_in_track = -max_value;
}
IDF014 = std::bitset<20>(delta_orbit_in_track);
}
void Rtcm::set_IDF015(float delta_orbit_cross_track_m)
{
const float scale = 2500.0;
const int32_t max_value = 524287;
auto delta_orbit_cross_track = static_cast<int32_t>((delta_orbit_cross_track_m * scale));
if (delta_orbit_cross_track > max_value)
{
delta_orbit_cross_track = max_value;
}
if (delta_orbit_cross_track < -max_value)
{
delta_orbit_cross_track = -max_value;
}
IDF015 = std::bitset<20>(delta_orbit_cross_track);
}
void Rtcm::set_IDF016(float dot_orbit_delta_track_m_s)
{
const float scale = 1.0e6;
const int32_t max_value = 1048575;
auto dot_orbit_delta_track = static_cast<int32_t>((dot_orbit_delta_track_m_s * scale));
if (dot_orbit_delta_track > max_value)
{
dot_orbit_delta_track = max_value;
}
if (dot_orbit_delta_track < -max_value)
{
dot_orbit_delta_track = -max_value;
}
IDF016 = std::bitset<21>(dot_orbit_delta_track);
}
void Rtcm::set_IDF017(float dot_orbit_delta_in_track_m_s)
{
const float scale = 250000.0;
const int32_t max_value = 262143;
auto dot_orbit_delta_in_track = static_cast<int32_t>((dot_orbit_delta_in_track_m_s * scale));
if (dot_orbit_delta_in_track > max_value)
{
dot_orbit_delta_in_track = max_value;
}
if (dot_orbit_delta_in_track < -max_value)
{
dot_orbit_delta_in_track = -max_value;
}
IDF017 = std::bitset<19>(dot_orbit_delta_in_track);
}
void Rtcm::set_IDF018(float dot_orbit_delta_cross_track_m_s)
{
const float scale = 250000.0;
const int32_t max_value = 262143;
auto dot_orbit_delta_cross_track = static_cast<int32_t>((dot_orbit_delta_cross_track_m_s * scale));
if (dot_orbit_delta_cross_track > max_value)
{
dot_orbit_delta_cross_track = max_value;
}
if (dot_orbit_delta_cross_track < -max_value)
{
dot_orbit_delta_cross_track = -max_value;
}
IDF018 = std::bitset<19>(dot_orbit_delta_cross_track);
}
void Rtcm::set_IDF019(float delta_clock_c0_m)
{
const float scale = 1.0e4;
const int32_t max_value = 2097151;
auto delta_clock_c0 = static_cast<int32_t>((delta_clock_c0_m * scale));
if (delta_clock_c0 > max_value)
{
delta_clock_c0 = max_value;
}
if (delta_clock_c0 < -max_value)
{
delta_clock_c0 = -max_value;
}
IDF019 = std::bitset<22>(delta_clock_c0);
}
void Rtcm::set_IDF020(float delta_clock_c1_m_s)
{
const float scale = 1.0e6;
const int32_t max_value = 1048575;
auto delta_clock_c1 = static_cast<int32_t>((delta_clock_c1_m_s * scale));
if (delta_clock_c1 > max_value)
{
delta_clock_c1 = max_value;
}
if (delta_clock_c1 < -max_value)
{
delta_clock_c1 = -max_value;
}
IDF020 = std::bitset<21>(delta_clock_c1);
}
void Rtcm::set_IDF021(float delta_clock_c2_m_s2)
{
const float scale = 5.0e8;
const int32_t max_value = 67108863;
auto delta_clock_c2 = static_cast<int32_t>((delta_clock_c2_m_s2 * scale));
if (delta_clock_c2 > max_value)
{
delta_clock_c2 = max_value;
}
if (delta_clock_c2 < -max_value)
{
delta_clock_c2 = -max_value;
}
IDF021 = std::bitset<27>(delta_clock_c2);
}
void Rtcm::set_IDF023(uint8_t num_bias_processed)
{
const uint8_t max_value = 31;
uint8_t num_bias = num_bias_processed;
if (num_bias > max_value)
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad number of biases processed";
num_bias = 0;
}
IDF023 = std::bitset<5>(num_bias);
}
void Rtcm::set_IDF024(uint8_t gnss_signal_tracking_mode_id)
{
const uint8_t max_value = 31;
uint8_t tracking_mode = gnss_signal_tracking_mode_id;
if (tracking_mode > max_value) // error
{
LOG(WARNING) << "RTCM SSR messages are probably wrong: bad GNSS Signal and Tracking Mode Identifier";
tracking_mode = 0;
}
IDF024 = std::bitset<5>(tracking_mode);
}
void Rtcm::set_IDF025(float code_bias_m)
{
const float scale = 100.0;
const int16_t max_value = 8191;
auto code_bias = static_cast<int16_t>((code_bias_m * scale));
if (code_bias > max_value)
{
code_bias = max_value;
}
if (code_bias < -max_value)
{
code_bias = -max_value;
}
IDF025 = std::bitset<14>(code_bias);
}

106
src/algorithms/PVT/libs/rtcm.h
View File

@ -21,6 +21,7 @@
#include "concurrent_queue.h"
#include "galileo_ephemeris.h"
#include "galileo_has_data.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
@ -336,6 +337,26 @@ public:
bool divergence_free,
bool more_messages);
/*!
* \brief Prints messages of type IGM01 (SSR Orbit Correction)
*/
std::vector<std::string> print_IGM01(const Galileo_HAS_data& has_data);
/*!
* \brief Prints messages of type IGM02 (SSR Clock Correction)
*/
std::vector<std::string> print_IGM02(const Galileo_HAS_data& has_data);
/*!
* \brief Prints messages of type IGM03 (SSR Combined Orbit and Clock Correction)
*/
std::vector<std::string> print_IGM03(const Galileo_HAS_data& has_data);
/*!
* \brief Prints messages of type IGM05 (SSR Bias Correction)
*/
std::vector<std::string> print_IGM05(const Galileo_HAS_data& has_data);
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
@ -476,6 +497,15 @@ private:
std::string get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
std::string get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
std::string get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM01_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM02_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM02_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM03_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
std::string get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
std::string get_IGM05_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
//
// Utilities
//
@ -496,6 +526,8 @@ private:
uint32_t lock_time_indicator(uint32_t lock_time_period_s);
uint32_t msm_lock_time_indicator(uint32_t lock_time_period_s);
uint32_t msm_extended_lock_time_indicator(uint32_t lock_time_period_s);
// SSR utilities
uint8_t ssr_update_interval(uint16_t validity_seconds) const;
//
// Classes for TCP communication
@ -1467,6 +1499,80 @@ private:
std::bitset<1> DF420;
int32_t set_DF420(const Gnss_Synchro& gnss_synchro);
// IGS State Space Representation (SSR) data fields
// see https://files.igs.org/pub/data/format/igs_ssr_v1.pdf
std::bitset<3> IDF001;
void set_IDF001(uint8_t version);
std::bitset<8> IDF002;
void set_IDF002(uint8_t igs_message_number);
std::bitset<20> IDF003;
void set_IDF003(uint32_t tow);
std::bitset<4> IDF004;
void set_IDF004(uint8_t ssr_update_interval);
std::bitset<1> IDF005;
void set_IDF005(bool ssr_multiple_message_indicator);
std::bitset<1> IDF006;
void set_IDF006(bool regional_indicator);
std::bitset<4> IDF007;
void set_IDF007(uint8_t ssr_iod);
std::bitset<16> IDF008;
void set_IDF008(uint16_t ssr_provider_id);
std::bitset<4> IDF009;
void set_IDF009(uint8_t ssr_solution_id);
std::bitset<6> IDF010;
void set_IDF010(uint8_t num_satellites);
std::bitset<6> IDF011;
void set_IDF011(uint8_t gnss_satellite_id);
std::bitset<8> IDF012;
void set_IDF012(uint8_t gnss_iod);
std::bitset<22> IDF013;
void set_IDF013(float delta_orbit_radial_m);
std::bitset<20> IDF014;
void set_IDF014(float delta_orbit_in_track_m);
std::bitset<20> IDF015;
void set_IDF015(float delta_orbit_cross_track_m);
std::bitset<21> IDF016;
void set_IDF016(float dot_orbit_delta_track_m_s);
std::bitset<19> IDF017;
void set_IDF017(float dot_orbit_delta_in_track_m_s);
std::bitset<19> IDF018;
void set_IDF018(float dot_orbit_delta_cross_track_m_s);
std::bitset<22> IDF019;
void set_IDF019(float delta_clock_c0_m);
std::bitset<21> IDF020;
void set_IDF020(float delta_clock_c1_m_s);
std::bitset<27> IDF021;
void set_IDF021(float delta_clock_c2_m_s2);
std::bitset<5> IDF023;
void set_IDF023(uint8_t num_bias_processed);
std::bitset<5> IDF024;
void set_IDF024(uint8_t gnss_signal_tracking_mode_id);
std::bitset<14> IDF025;
void set_IDF025(float code_bias_m);
};

96
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -19,6 +19,7 @@
#include "rtcm_printer.h"
#include "galileo_ephemeris.h"
#include "galileo_has_data.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_sdr_filesystem.h"
@ -36,6 +37,7 @@
#include <iostream> // for cout, cerr
#include <termios.h> // for tcgetattr
#include <unistd.h> // for close, write
#include <vector> // for std::vector
Rtcm_Printer::Rtcm_Printer(const std::string& filename,
@ -1460,6 +1462,40 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
void Rtcm_Printer::Print_IGM_Messages(const Galileo_HAS_data& has_data)
{
try
{
if (has_data.header.orbit_correction_flag && has_data.header.clock_fullset_flag)
{
Print_IGM03(has_data);
}
if (has_data.header.orbit_correction_flag && !has_data.header.clock_fullset_flag)
{
Print_IGM01(has_data);
}
if (!has_data.header.orbit_correction_flag && has_data.header.clock_fullset_flag)
{
Print_IGM02(has_data);
}
if (has_data.header.code_bias_flag)
{
Print_IGM05(has_data);
}
}
catch (const boost::exception& ex)
{
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << '\n';
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
}
catch (const std::exception& ex)
{
std::cout << "RTCM std exception: " << ex.what() << '\n';
LOG(ERROR) << "RTCM std exception: " << ex.what();
}
}
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
const std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
@ -1599,6 +1635,66 @@ bool Rtcm_Printer::Print_Rtcm_MSM(uint32_t msm_number, const Gps_Ephemeris& gps_
}
bool Rtcm_Printer::Print_IGM01(const Galileo_HAS_data& has_data)
{
const std::vector<std::string> msgs = rtcm->print_IGM01(has_data);
if (msgs.empty())
{
return false;
}
for (const auto& s : msgs)
{
Rtcm_Printer::Print_Message(s);
}
return true;
}
bool Rtcm_Printer::Print_IGM02(const Galileo_HAS_data& has_data)
{
const std::vector<std::string> msgs = rtcm->print_IGM02(has_data);
if (msgs.empty())
{
return false;
}
for (const auto& s : msgs)
{
Rtcm_Printer::Print_Message(s);
}
return true;
}
bool Rtcm_Printer::Print_IGM03(const Galileo_HAS_data& has_data)
{
const std::vector<std::string> msgs = rtcm->print_IGM03(has_data);
if (msgs.empty())
{
return false;
}
for (const auto& s : msgs)
{
Rtcm_Printer::Print_Message(s);
}
return true;
}
bool Rtcm_Printer::Print_IGM05(const Galileo_HAS_data& has_data)
{
const std::vector<std::string> msgs = rtcm->print_IGM05(has_data);
if (msgs.empty())
{
return false;
}
for (const auto& s : msgs)
{
Rtcm_Printer::Print_Message(s);
}
return true;
}
int Rtcm_Printer::init_serial(const std::string& serial_device)
{
/*

8
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -40,6 +40,7 @@ class Gps_CNAV_Ephemeris;
class Gps_Ephemeris;
class Rtcm;
class Rtklib_Solver;
class Galileo_HAS_data;
/*!
* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
@ -98,6 +99,8 @@ public:
*/
uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
void Print_IGM_Messages(const Galileo_HAS_data& has_data);
std::string print_MT1005_test(); //!< For testing purposes
private:
@ -178,6 +181,11 @@ private:
bool divergence_free,
bool more_messages);
bool Print_IGM01(const Galileo_HAS_data& has_data); // SSR Orbit Corrections
bool Print_IGM02(const Galileo_HAS_data& has_data); // SSR Clock Corrections
bool Print_IGM03(const Galileo_HAS_data& has_data); // SSR Combined Orbit & Clock Corrections
bool Print_IGM05(const Galileo_HAS_data& has_data); // SSR Bias Corrections
int32_t init_serial(const std::string& serial_device); // serial port control
void close_serial() const;
bool Print_Message(const std::string& message);

8
src/algorithms/channel/adapters/channel.cc
View File

@ -128,6 +128,10 @@ void Channel::connect(gr::top_block_sptr top_block)
// Message ports
top_block->msg_connect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
if ((trk_->get_right_block()->name() == "glonass_l1_ca_dll_pll_c_aid_tracking_cc") || (trk_->get_right_block()->name() == "glonass_l2_ca_dll_pll_c_aid_tracking_cc"))
{
top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_samples"), trk_->get_right_block(), pmt::mp("preamble_timestamp_samples"));
}
DLOG(INFO) << "tracking -> telemetry_decoder";
// Message ports
@ -158,6 +162,10 @@ void Channel::disconnect(gr::top_block_sptr top_block)
nav_->disconnect(top_block);
top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
if ((trk_->get_right_block()->name() == "glonass_l1_ca_dll_pll_c_aid_tracking_cc") || (trk_->get_right_block()->name() == "glonass_l2_ca_dll_pll_c_aid_tracking_cc"))
{
top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("preamble_timestamp_samples"), trk_->get_right_block(), pmt::mp("preamble_timestamp_samples"));
}
if (!flag_enable_fpga_)
{
top_block->msg_disconnect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx_, pmt::mp("events"));

12
src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
View File

@ -99,12 +99,24 @@ OsmosdrSignalSource::OsmosdrSignalSource(const ConfigurationInterface* configura
std::cout << "Actual VGA1 Gain: " << osmosdr_source_->get_gain("VGA1", 0) << " dB...\n";
std::cout << "Actual VGA2 Gain: " << osmosdr_source_->get_gain("VGA2", 0) << " dB...\n";
}
else
{
if (!osmosdr_args_.empty() && (osmosdr_args_.find("xtrx") != std::string::npos))
{
osmosdr_source_->set_gain(gain_, "LNA", 0);
osmosdr_source_->set_gain(rf_gain_, "TIA", 0);
osmosdr_source_->set_gain(if_gain_, "PGA", 0);
std::cout << "Actual XTRX LNA Gain: " << osmosdr_source_->get_gain("LNA", 0) << " dB...\n";
std::cout << "Actual XTRX TIA Gain: " << osmosdr_source_->get_gain("TIA", 0) << " dB...\n";
std::cout << "Actual XTRX PGA Gain: " << osmosdr_source_->get_gain("PGA", 0) << " dB...\n";
}
else
{
std::cout << "Actual RX Gain: " << osmosdr_source_->get_gain() << " dB...\n";
LOG(INFO) << "Actual RX Gain: " << osmosdr_source_->get_gain() << " dB...";
}
}
}
// Get actual bandwidth
std::cout << "Actual Bandwidth: " << osmosdr_source_->get_bandwidth(0) << " [Hz]...\n";

32
src/algorithms/signal_source/adapters/uhd_signal_source.cc
View File

@ -60,6 +60,7 @@ UhdSignalSource::UhdSignalSource(const ConfigurationInterface* configuration,
}
subdevice_ = configuration->property(role + ".subdevice", empty);
clock_source_ = configuration->property(role + ".clock_source", std::string("internal"));
otw_format_ = configuration->property(role + ".otw_format", std::string("sc16"));
RF_channels_ = configuration->property(role + ".RF_channels", 1);
sample_rate_ = configuration->property(role + ".sampling_frequency", 4.0e6);
item_type_ = configuration->property(role + ".item_type", default_item_type);
@ -128,26 +129,49 @@ UhdSignalSource::UhdSignalSource(const ConfigurationInterface* configuration,
// fc32: Complex floating point (32-bit floats) range [-1.0, +1.0].
// sc16: Complex signed integer (16-bit integers) range [-32768, +32767].
// sc8: Complex signed integer (8-bit integers) range [-128, 127].
//! Convenience constructor for streamer args
// stream_args_t(const std::string& cpu = "", const std::string& otw = "")
// {
// cpu_format = cpu;
// otw_format = otw;
// }
//
//
// * The CPU format is a string that describes the format of host memory.
// * Conversions for the following CPU formats have been implemented:
// * - fc64 - complex<double>
// * - fc32 - complex<float>
// * - sc16 - complex<int16_t>
// * - sc8 - complex<int8_t>
// *
// * The following are not implemented, but are listed to demonstrate naming convention:
// * - f32 - float
// * - f64 - double
// * - s16 - int16_t
// * - s8 - int8_t
// *
// * The CPU format can be chosen depending on what the application requires.
if (item_type_ == "cbyte")
{
item_size_ = sizeof(lv_8sc_t);
uhd_stream_args_ = uhd::stream_args_t("sc8");
uhd_stream_args_ = uhd::stream_args_t("sc8", otw_format_);
}
else if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
uhd_stream_args_ = uhd::stream_args_t("sc16");
uhd_stream_args_ = uhd::stream_args_t("sc16", otw_format_);
}
else if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
uhd_stream_args_ = uhd::stream_args_t("fc32");
uhd_stream_args_ = uhd::stream_args_t("fc32", otw_format_);
}
else
{
LOG(WARNING) << item_type_ << " unrecognized item type. Using cshort.";
item_size_ = sizeof(lv_16sc_t);
uhd_stream_args_ = uhd::stream_args_t("sc16");
uhd_stream_args_ = uhd::stream_args_t("sc16", otw_format_);
}
// select the number of channels and the subdevice specifications

7
src/algorithms/signal_source/adapters/uhd_signal_source.h
View File

@ -77,6 +77,13 @@ private:
std::string subdevice_;
std::string clock_source_;
// * The OTW format is a string that describes the format over-the-wire.
// * The following over-the-wire formats have been implemented:
// * - sc16 - Q16 I16
// * - sc8 - Q8_1 I8_1 Q8_0 I8_0
// * - sc12 (Only some devices)
std::string otw_format_;
double sample_rate_;
size_t item_size_;
int RF_channels_;

6
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -516,7 +516,7 @@ void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t
}
void galileo_telemetry_decoder_gs::decode_CNAV_word(float *page_symbols, int32_t page_length)
void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *page_symbols, int32_t page_length)
{
// 1. De-interleave
std::vector<float> page_symbols_soft_value(page_length);
@ -550,7 +550,7 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(float *page_symbols, int32_t
}
}
d_cnav_nav.read_HAS_page(page_String);
d_cnav_nav.set_time_stamp(time_stamp);
// 4. If we have a new HAS page, read it
if (d_cnav_nav.have_new_HAS_page() == true)
{
@ -834,7 +834,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
decode_FNAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
break;
case 3: // CNAV
decode_CNAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
decode_CNAV_word(current_symbol.Tracking_sample_counter / static_cast<uint64_t>(current_symbol.fs), d_page_part_symbols.data(), d_frame_length_symbols);
break;
default:
return -1;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -83,7 +83,7 @@ private:
void deinterleaver(int32_t rows, int32_t cols, const float *in, float *out);
void decode_INAV_word(float *page_part_symbols, int32_t frame_length);
void decode_FNAV_word(float *page_symbols, int32_t frame_length);
void decode_CNAV_word(float *page_symbols, int32_t page_length);
void decode_CNAV_word(uint64_t time_stamp, float *page_symbols, int32_t page_length);
std::unique_ptr<Viterbi_Decoder> d_viterbi;
std::vector<int32_t> d_preamble_samples;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
View File

@ -69,6 +69,7 @@ glonass_l1_ca_telemetry_decoder_gs::glonass_l1_ca_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
this->message_port_register_out(pmt::mp("preamble_timestamp_samples"));
if (d_enable_navdata_monitor)
{
@ -367,6 +368,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// try to decode frame
LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
this->message_port_pub(pmt::mp("preamble_timestamp_samples"), pmt::mp(d_preamble_time_samples));
d_stat = 2;
}
else

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@ -69,6 +69,7 @@ glonass_l2_ca_telemetry_decoder_gs::glonass_l2_ca_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
this->message_port_register_out(pmt::mp("preamble_timestamp_samples"));
if (d_enable_navdata_monitor)
{
@ -366,6 +367,7 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
// try to decode frame
LOG(INFO) << "Starting string decoder for GLONASS L2 C/A SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
this->message_port_pub(pmt::mp("preamble_timestamp_samples"), pmt::mp(d_preamble_time_samples));
d_stat = 2;
}
else

10
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -87,7 +87,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(const p
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_preamble_timestamp_samples = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
@ -138,7 +138,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
d_carr_phase_error_secs_Ti(0.0),
d_preamble_timestamp_s(0.0),
d_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_correlation_length_samples(static_cast<int32_t>(d_vector_length)),
d_sample_counter(0ULL),
@ -156,9 +156,9 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
d_dump(dump)
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_in(pmt::mp("preamble_timestamp_samples"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
this->set_msg_handler(pmt::mp("preamble_timestamp_samples"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else
@ -602,7 +602,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
bool enable_dll_pll;
if (d_enable_extended_integration == true)
{
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples - d_preamble_timestamp_samples) / static_cast<double>(d_fs_in)));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{
// compute coherent integration and enable tracking loop

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -171,7 +171,7 @@ private:
double d_code_error_filt_chips_Ti;
double d_carr_phase_error_secs_Ti;
double d_preamble_timestamp_s;
double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms;
// Integration period in samples

10
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -84,7 +84,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(const p
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_preamble_timestamp_samples = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
@ -135,7 +135,7 @@ glonass_l2_ca_dll_pll_c_aid_tracking_cc::glonass_l2_ca_dll_pll_c_aid_tracking_cc
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
d_carr_phase_error_secs_Ti(0.0),
d_preamble_timestamp_s(0.0),
d_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_correlation_length_samples(static_cast<int32_t>(d_vector_length)),
d_sample_counter(0ULL),
@ -153,9 +153,9 @@ glonass_l2_ca_dll_pll_c_aid_tracking_cc::glonass_l2_ca_dll_pll_c_aid_tracking_cc
d_dump(dump)
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_in(pmt::mp("preamble_timestamp_samples"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
this->set_msg_handler(pmt::mp("preamble_timestamp_samples"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else
@ -600,7 +600,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
bool enable_dll_pll;
if (d_enable_extended_integration == true)
{
const int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
const int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples - d_preamble_timestamp_samples) / static_cast<double>(d_fs_in)));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{
// compute coherent integration and enable tracking loop

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -168,7 +168,7 @@ private:
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
double d_carr_phase_error_secs_Ti;
double d_preamble_timestamp_s;
double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms;
// Integration period in samples

201
src/core/libs/galileo_e6_has_msg_receiver.cc
View File

@ -28,6 +28,7 @@
#include <algorithm> // for std::find, std::count
#include <cstddef> // for size_t
#include <iterator> // for std::back_inserter
#include <limits> // for std::numeric_limits
#include <sstream> // for std::stringstream
#include <stdexcept> // for std::out_of_range
#include <typeinfo> // for typeid
@ -78,6 +79,10 @@ galileo_e6_has_msg_receiver::galileo_e6_has_msg_receiver() : gr::block("galileo_
d_C_matrix = std::vector<std::vector<std::vector<uint8_t>>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE))); // 32 x 255 x 53
d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)); // HAS message matrix 32 x 53
d_received_pids = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint8_t>());
d_received_timestamps = std::vector<std::vector<uint64_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint64_t>());
d_printed_timestamps = std::vector<uint64_t>(HAS_MSG_NUMBER_MESSAGE_IDS, std::numeric_limits<uint64_t>::max());
d_printed_mids = std::vector<bool>(HAS_MSG_NUMBER_MESSAGE_IDS);
// Reserve memory to store masks
d_nsat_in_mask_id = std::vector<int>(HAS_MSG_NUMBER_MASK_IDS);
@ -103,10 +108,9 @@ void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
}
void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& msg)
std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page(const pmt::pmt_t& msg)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_galileo_e6_has function called by the scheduler
int64_t timestamp = std::numeric_limits<uint64_t>::max();
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
@ -121,8 +125,61 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
<< "PID: " << static_cast<float>(HAS_data_page->message_page_id);
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
timestamp = HAS_data_page->time_stamp;
if (d_printed_mids[d_current_message_id] == false)
{
process_HAS_page(*HAS_data_page.get());
}
}
else
{
LOG(WARNING) << "galileo_e6_has_msg_receiver received an unknown object type!";
}
}
catch (const wht::bad_any_cast& e)
{
LOG(WARNING) << "galileo_e6_has_msg_receiver Bad any_cast: " << e.what();
}
// Return the resulting decoded HAS data (if available)
if (d_new_message == true)
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
d_new_message = false;
d_printed_mids[d_current_message_id] = true;
d_printed_timestamps[d_current_message_id] = timestamp;
return has_data_ptr;
}
return nullptr;
}
void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& msg)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_galileo_e6_has function called by the scheduler
int64_t timestamp = std::numeric_limits<uint64_t>::max();
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == typeid(std::shared_ptr<Galileo_HAS_page>).hash_code())
{
const auto HAS_data_page = wht::any_cast<std::shared_ptr<Galileo_HAS_page>>(pmt::any_ref(msg));
DLOG(INFO) << "New HAS page received: "
<< "Status: " << static_cast<float>(HAS_data_page->has_status) << ", "
<< "MT: " << static_cast<float>(HAS_data_page->message_type) << ", "
<< "MID: " << static_cast<float>(HAS_data_page->message_id) << ", "
<< "MS: " << static_cast<float>(HAS_data_page->message_size) << ", "
<< "PID: " << static_cast<float>(HAS_data_page->message_page_id);
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
timestamp = HAS_data_page->time_stamp;
if (d_printed_mids[d_current_message_id] == false)
{
process_HAS_page(*HAS_data_page.get());
}
}
else
{
LOG(WARNING) << "galileo_e6_has_msg_receiver received an unknown object type!";
@ -138,6 +195,8 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
d_printed_mids[d_current_message_id] = true;
d_printed_timestamps[d_current_message_id] = timestamp;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
this->message_port_pub(pmt::mp("E6_HAS_to_PVT"), pmt::make_any(has_data_ptr));
d_new_message = false;
@ -155,12 +214,14 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
{
if (has_page.message_type == 1) // contains satellite corrections
{
delete_outdated_data(has_page);
if (has_page.message_id < HAS_MSG_NUMBER_MESSAGE_IDS) // MID range is from 0 to 31
{
if (std::find(d_received_pids[has_page.message_id].begin(), d_received_pids[has_page.message_id].end(), has_page.message_page_id) == d_received_pids[has_page.message_id].end())
{
// New pid! Annotate it.
d_received_pids[has_page.message_id].push_back(has_page.message_page_id);
d_received_timestamps[has_page.message_id].push_back(has_page.time_stamp);
for (int k = 0; k < GALILEO_CNAV_OCTETS_IN_SUBPAGE; k++)
{
constexpr int bits_in_octet = 8;
@ -184,18 +245,51 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
if (res == 0)
{
// Successful decoding, we have a valid HAS message stored at d_HAS_data
std::cout << TEXT_MAGENTA << "New Galileo HAS message type " << std::to_string(has_page.message_id)
<< " received and successfully decoded" << TEXT_RESET << '\n';
if (d_nsat_in_mask_id[d_HAS_data.header.mask_id] != 0)
{
// if we have the mask for that message, it's ready to be sent to PVT
d_new_message = true;
std::cout << TEXT_MAGENTA << "New Galileo HAS message ID " << std::to_string(has_page.message_id)
<< " received and successfully decoded" << TEXT_RESET << '\n';
}
}
}
}
void galileo_e6_has_msg_receiver::delete_outdated_data(const Galileo_HAS_page& has_page)
{
const uint64_t current_time_stamp = has_page.time_stamp;
for (size_t i = 0; i < d_received_pids.size(); i++)
{
uint64_t oldest_time_stamp = std::numeric_limits<uint64_t>::max();
for (size_t j = 0; j < d_received_pids[i].size(); j++)
{
uint64_t timestamp = d_received_timestamps[i][j];
if (timestamp > 0 && timestamp < oldest_time_stamp)
{
oldest_time_stamp = timestamp;
}
}
if (current_time_stamp > oldest_time_stamp && current_time_stamp - oldest_time_stamp > MAX_SECONDS_REMEMBERING_MID)
{
DLOG(INFO) << "Deleting data for message ID " << i << " because it is too old: " << oldest_time_stamp << " vs " << current_time_stamp;
d_received_pids[i].clear();
d_received_timestamps[i].clear();
d_C_matrix[i] = {GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)};
}
}
for (size_t mid = 0; mid < HAS_MSG_NUMBER_MESSAGE_IDS; mid++)
{
if (d_printed_mids[mid] == true && current_time_stamp > d_printed_timestamps[mid] && current_time_stamp - d_printed_timestamps[mid] > MAX_SECONDS_REMEMBERING_MID)
{
d_printed_timestamps[mid] = std::numeric_limits<uint64_t>::max();
d_printed_mids[mid] = false;
}
}
}
int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_t message_size)
{
DLOG(INFO) << "Start decoding of a HAS message";
@ -338,36 +432,36 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
void galileo_e6_has_msg_receiver::read_MT1_header(const std::string& message_header)
{
// ICD v1.2 Table 6: MT1 Message Header
// HAS SIS ICD v1.0 Table 13: MT1 Message Header
const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS> has_mt1_header(message_header);
d_HAS_data.header.toh = read_has_message_header_parameter_uint16(has_mt1_header, GALILEO_MT1_HEADER_TOH);
d_HAS_data.header.mask_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_MASK_ID);
d_HAS_data.header.iod_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_IOD_ID);
d_HAS_data.header.mask_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_MASK_FLAG);
d_HAS_data.header.orbit_correction_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG);
d_HAS_data.header.clock_fullset_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_CLOCK_FULLSET_FLAG);
d_HAS_data.header.clock_subset_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_CLOCK_SUBSET_FLAG);
d_HAS_data.header.code_bias_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_CODE_BIAS_FLAG);
d_HAS_data.header.phase_bias_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_PHASE_BIAS_FLAG);
d_HAS_data.header.ura_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_URA_FLAG);
d_HAS_data.header.reserved = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_RESERVED);
d_HAS_data.header.mask_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_MASK_ID);
d_HAS_data.header.iod_set_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_IOD_SET_ID);
DLOG(INFO) << "MT1 header " << message_header << ": "
<< "TOH: " << static_cast<float>(d_HAS_data.header.toh) << ", "
<< "mask ID: " << static_cast<float>(d_HAS_data.header.mask_id) << ", "
<< "iod ID: " << static_cast<float>(d_HAS_data.header.iod_id) << ", "
<< "mask_flag: " << static_cast<float>(d_HAS_data.header.mask_flag) << ", "
<< "orbit_correction_flag: " << static_cast<float>(d_HAS_data.header.orbit_correction_flag) << ", "
<< "clock_fullset_flag: " << static_cast<float>(d_HAS_data.header.clock_fullset_flag) << ", "
<< "clock_subset_flag: " << static_cast<float>(d_HAS_data.header.clock_subset_flag) << ", "
<< "code_bias_flag: " << static_cast<float>(d_HAS_data.header.code_bias_flag) << ", "
<< "phase_bias_flag: " << static_cast<float>(d_HAS_data.header.phase_bias_flag) << ", "
<< "ura_flag: " << static_cast<float>(d_HAS_data.header.ura_flag);
<< "reserved: " << static_cast<float>(d_HAS_data.header.reserved) << ", "
<< "mask ID: " << static_cast<float>(d_HAS_data.header.mask_id) << ", "
<< "iod ID: " << static_cast<float>(d_HAS_data.header.iod_set_id);
}
void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
{
// ICD v1.2 Table 7: MT1 Message Body.
// HAS SIS ICD v1.0 Table 17: MT1 Message Body
auto message = std::string(message_body);
int Nsat = 0;
bool have_mask = false;
@ -489,7 +583,7 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.gnss_iod = std::vector<uint16_t>(Nsat);
d_HAS_data.delta_radial = std::vector<int16_t>(Nsat);
d_HAS_data.delta_along_track = std::vector<int16_t>(Nsat);
d_HAS_data.delta_in_track = std::vector<int16_t>(Nsat);
d_HAS_data.delta_cross_track = std::vector<int16_t>(Nsat);
for (int i = 0; i < Nsat; i++)
{
@ -520,8 +614,8 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
d_HAS_data.delta_radial[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_RADIAL_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_RADIAL_LENGTH, message.end());
d_HAS_data.delta_along_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_ALONG_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_ALONG_TRACK_LENGTH, message.end());
d_HAS_data.delta_in_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_IN_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_IN_TRACK_LENGTH, message.end());
d_HAS_data.delta_cross_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CROSS_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CROSS_TRACK_LENGTH, message.end());
@ -530,7 +624,7 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
DLOG(INFO) << debug_print_vector("gnss_iod", d_HAS_data.gnss_iod);
DLOG(INFO) << debug_print_vector("delta_radial", d_HAS_data.delta_radial);
DLOG(INFO) << debug_print_vector("delta_along_track", d_HAS_data.delta_along_track);
DLOG(INFO) << debug_print_vector("delta_in_track", d_HAS_data.delta_in_track);
DLOG(INFO) << debug_print_vector("delta_cross_track", d_HAS_data.delta_cross_track);
}
@ -540,25 +634,22 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
d_HAS_data.validity_interval_index_clock_fullset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.delta_clock_c0_multiplier = std::vector<uint8_t>(d_HAS_data.Nsys);
d_HAS_data.delta_clock_multiplier = std::vector<uint8_t>(d_HAS_data.Nsys);
for (uint8_t i = 0; i < d_HAS_data.Nsys; i++)
{
d_HAS_data.delta_clock_c0_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH)) + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH, message.end());
d_HAS_data.delta_clock_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH)) + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH, message.end());
}
d_HAS_data.iod_change_flag = std::vector<bool>(Nsat);
d_HAS_data.delta_clock_c0 = std::vector<int16_t>(Nsat);
d_HAS_data.delta_clock_correction = std::vector<int16_t>(Nsat);
for (int i = 0; i < Nsat; i++)
{
d_HAS_data.iod_change_flag[i] = (message[0] == '1' ? true : false);
message = std::string(message.begin() + 1, message.end());
d_HAS_data.delta_clock_c0[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_LENGTH, message.end());
d_HAS_data.delta_clock_correction[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH, message.end());
}
DLOG(INFO) << debug_print_vector("delta_clock_c0_multiplier", d_HAS_data.delta_clock_c0_multiplier);
DLOG(INFO) << debug_print_vector("delta_clock_c0", d_HAS_data.delta_clock_c0);
DLOG(INFO) << debug_print_vector("delta_clock_multiplier", d_HAS_data.delta_clock_multiplier);
DLOG(INFO) << debug_print_vector("delta_clock_correction", d_HAS_data.delta_clock_correction);
}
if (d_HAS_data.header.clock_subset_flag && have_mask)
@ -567,29 +658,28 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
d_HAS_data.validity_interval_index_clock_subset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.Nsysprime = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYSPRIME_LENGTH));
message = std::string(message.begin() + HAS_MSG_NSYSPRIME_LENGTH, message.end());
d_HAS_data.Nsys_sub = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYS_SUB_LENGTH));
message = std::string(message.begin() + HAS_MSG_NSYS_SUB_LENGTH, message.end());
if (d_HAS_data.Nsysprime == 0)
if (d_HAS_data.Nsys_sub == 0)
{
// wrong data format, aborting
have_mask = false;
d_nsat_in_mask_id[d_HAS_data.header.mask_id] = 0;
}
d_HAS_data.gnss_id_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsysprime);
d_HAS_data.delta_clock_c0_multiplier_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsysprime);
d_HAS_data.satellite_submask = std::vector<uint64_t>(d_HAS_data.Nsysprime);
d_HAS_data.iod_change_flag_clock_subset = std::vector<std::vector<bool>>(d_HAS_data.Nsysprime, std::vector<bool>());
d_HAS_data.delta_clock_c0_clock_subset = std::vector<std::vector<int16_t>>(d_HAS_data.Nsysprime, std::vector<int16_t>());
d_HAS_data.gnss_id_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsys_sub);
d_HAS_data.delta_clock_multiplier_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsys_sub);
d_HAS_data.satellite_submask = std::vector<uint64_t>(d_HAS_data.Nsys_sub);
d_HAS_data.delta_clock_correction_clock_subset = std::vector<std::vector<int16_t>>(d_HAS_data.Nsys_sub, std::vector<int16_t>());
for (uint8_t i = 0; i < d_HAS_data.Nsysprime; i++)
for (uint8_t i = 0; i < d_HAS_data.Nsys_sub; i++)
{
d_HAS_data.gnss_id_clock_subset[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_CLOCK_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_ID_CLOCK_SUBSET_LENGTH, message.end());
uint8_t clock_multiplier = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH));
d_HAS_data.delta_clock_c0_multiplier_clock_subset[i] = clock_multiplier + 1; // b00 means x1, b01 means x2, etc
d_HAS_data.delta_clock_multiplier_clock_subset[i] = clock_multiplier + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH, message.end());
// find the satellite mask corresponding to this GNSS ID
@ -621,22 +711,22 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
}
aux <<= 1;
}
int Nsatprime = std::count(binary.begin(), binary.end(), '1');
d_HAS_data.delta_clock_c0_clock_subset[i].reserve(Nsatprime);
int Nsat_sub = std::count(binary.begin(), binary.end(), '1');
d_HAS_data.delta_clock_correction_clock_subset[i].reserve(Nsat_sub);
// Read Nsatprime values of delta_clock_c0_clock_subset
for (int j = 0; j < Nsatprime; j++)
// Read Nsat_sub values of delta_clock_correction_clock_subset
for (int j = 0; j < Nsat_sub; j++)
{
d_HAS_data.delta_clock_c0_clock_subset[i][j] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH, message.end());
d_HAS_data.delta_clock_correction_clock_subset[i][j] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH, message.end());
}
}
DLOG(INFO) << "Nsysprime: " << static_cast<float>(d_HAS_data.Nsysprime);
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("gnss_id_clock_subset", d_HAS_data.gnss_id_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("delta_clock_c0_multiplier_clock_subset", d_HAS_data.delta_clock_c0_multiplier_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("satellite_submask", d_HAS_data.satellite_submask));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_matrix("delta_clock_c0_clock_subset", d_HAS_data.delta_clock_c0_clock_subset));
DLOG(INFO) << "Nsys_sub: " << static_cast<float>(d_HAS_data.Nsys_sub);
DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_vector("gnss_id_clock_subset", d_HAS_data.gnss_id_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_vector("delta_clock_multiplier_clock_subset", d_HAS_data.delta_clock_multiplier_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_vector("satellite_submask", d_HAS_data.satellite_submask));
DLOG(INFO) << (d_HAS_data.Nsys_sub == 0 ? "" : debug_print_matrix("delta_clock_correction_clock_subset", d_HAS_data.delta_clock_correction_clock_subset));
}
if (d_HAS_data.header.code_bias_flag && have_mask)
@ -785,19 +875,6 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
DLOG(INFO) << debug_print_matrix("phase bias", d_HAS_data.phase_bias);
DLOG(INFO) << debug_print_matrix("phase discontinuity indicator", d_HAS_data.phase_discontinuity_indicator);
}
// if (d_HAS_data.header.ura_flag && have_mask)
// {
// // read URA
// d_HAS_data.validity_interval_index_ura_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
// message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
// d_HAS_data.ura = std::vector<uint8_t>(Nsat);
// for (int i = 0; i < Nsat; i++)
// {
// d_HAS_data.ura[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_URA_LENGTH));
// message = std::string(message.begin() + HAS_MSG_URA_LENGTH, message.end());
// }
// }
}

5
src/core/libs/galileo_e6_has_msg_receiver.h
View File

@ -57,6 +57,7 @@ class galileo_e6_has_msg_receiver : public gr::block
public:
~galileo_e6_has_msg_receiver() = default; //!< Default destructor
void set_enable_navdata_monitor(bool enable);
std::shared_ptr<Galileo_HAS_data> process_test_page(const pmt::pmt_t& msg); //!< For testing purposes only
private:
friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
@ -66,6 +67,7 @@ private:
void process_HAS_page(const Galileo_HAS_page& has_page);
void read_MT1_header(const std::string& message_header);
void read_MT1_body(const std::string& message_body);
void delete_outdated_data(const Galileo_HAS_page& has_page);
int decode_message_type1(uint8_t message_id, uint8_t message_size);
@ -89,9 +91,12 @@ private:
Nav_Message_Packet d_nav_msg_packet;
// Store decoding matrices and received PIDs
std::vector<std::vector<uint64_t>> d_received_timestamps;
std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix;
std::vector<std::vector<uint8_t>> d_M_matrix;
std::vector<std::vector<uint8_t>> d_received_pids;
std::vector<uint64_t> d_printed_timestamps;
std::vector<bool> d_printed_mids;
// Store masks
std::vector<int> d_nsat_in_mask_id;

132
src/core/system_parameters/Galileo_CNAV.h
View File

@ -1,9 +1,9 @@
/*!
* \file Galileo_CNAV.h
* \brief Galileo CNAV mesage constants. Data from:
* Galileo High Accuracy Service E6-B Signal-In-Space Message Specification v1.2
* (April 2020).
* \author Carles Fernandez-Prades, 2020. cfernandez(at)cttc.es
* Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022
* \author Carles Fernandez-Prades, 2020-2022. cfernandez(at)cttc.es
*
*
* -----------------------------------------------------------------------------
@ -11,7 +11,7 @@
* 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) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@ -29,71 +29,74 @@
/** \addtogroup System_Parameters
* \{ */
// Galileo CNAV message structure
constexpr int32_t GALILEO_CNAV_SYMBOLS_PER_PAGE = 1000; //!< Total numer of symbols per HAS page including the sync pattern
constexpr int32_t GALILEO_CNAV_PREAMBLE_PERIOD_SYMBOLS = 1000;
constexpr int32_t GALILEO_CNAV_PAGE_MS = 1; //!< Duration in ms of a CNAV page
constexpr int32_t GALILEO_CNAV_INTERLEAVER_ROWS = 8;
constexpr int32_t GALILEO_CNAV_INTERLEAVER_COLS = 123;
constexpr int32_t GALILEO_CNAV_TELEMETRY_RATE_BITS_SECOND = 1000; // bps
constexpr int32_t GALILEO_CNAV_HAS_PAGE_DATA_BITS = 448;
constexpr int32_t GALILEO_CNAV_PAGE_RESERVED_BITS = 14;
constexpr int32_t GALILEO_CNAV_BITS_FOR_CRC = GALILEO_CNAV_HAS_PAGE_DATA_BITS + GALILEO_CNAV_PAGE_RESERVED_BITS; // 462
constexpr int32_t GALILEO_CNAV_BYTES_FOR_CRC = 58;
constexpr int32_t GALILEO_CNAV_CRC_LENGTH = 24;
constexpr int32_t GALILEO_CNAV_MESSAGE_BITS_PER_PAGE = 424;
constexpr int32_t GALILEO_CNAV_PAGE_HEADER_BITS = 24;
constexpr int32_t GALILEO_CNAV_PREAMBLE_LENGTH_BITS = 16;
constexpr int32_t GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK = 255;
constexpr int32_t GALILEO_CNAV_MT1_HEADER_BITS = 32;
constexpr int32_t GALILEO_CNAV_OCTETS_IN_SUBPAGE = 53;
constexpr int32_t GALILEO_CNAV_INFORMATION_VECTOR_LENGTH = 32;
constexpr char GALILEO_CNAV_PREAMBLE[17] = "1011011101110000";
// Galileo HAS message field lengths
constexpr size_t HAS_MSG_NSYS_LENGTH = 4;
constexpr size_t HAS_MSG_ID_MASK_LENGTH = 4;
constexpr size_t HAS_MSG_SATELLITE_MASK_LENGTH = 40;
constexpr size_t HAS_MSG_SIGNAL_MASK_LENGTH = 16;
constexpr size_t HAS_MSG_NAV_MESSAGE_LENGTH = 3;
constexpr size_t HAS_MSG_MASK_RESERVED_LENGTH = 6;
constexpr size_t HAS_MSG_VALIDITY_INDEX_LENGTH = 4;
constexpr size_t HAS_MSG_IOD_GPS_LENGTH = 8;
constexpr size_t HAS_MSG_IOD_GAL_LENGTH = 10;
constexpr size_t HAS_MSG_DELTA_RADIAL_LENGTH = 14;
constexpr size_t HAS_MSG_DELTA_ALONG_TRACK_LENGTH = 12;
constexpr size_t HAS_MSG_DELTA_CROSS_TRACK_LENGTH = 12;
constexpr size_t HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH = 2;
constexpr size_t HAS_MSG_DELTA_CLOCK_C0_LENGTH = 14;
constexpr size_t HAS_MSG_NSYSPRIME_LENGTH = 4;
constexpr size_t HAS_MSG_ID_CLOCK_SUBSET_LENGTH = 4;
constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH = 2;
constexpr size_t HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH = 13;
constexpr size_t HAS_MSG_CODE_BIAS_LENGTH = 11;
constexpr size_t HAS_MSG_PHASE_BIAS_LENGTH = 11;
constexpr size_t HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH = 2;
constexpr size_t HAS_MSG_URA_LENGTH = 2;
constexpr size_t HAS_MSG_NSYS_LENGTH = 4; // HAS SIS ICD 1.0 Table 15
constexpr size_t HAS_MSG_ID_MASK_LENGTH = 4; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_SATELLITE_MASK_LENGTH = 40; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_SIGNAL_MASK_LENGTH = 16; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_NAV_MESSAGE_LENGTH = 3; // HAS SIS ICD 1.0 Table 16
constexpr size_t HAS_MSG_MASK_RESERVED_LENGTH = 6; // HAS SIS ICD 1.0 Table 15
constexpr size_t HAS_MSG_VALIDITY_INDEX_LENGTH = 4; // HAS SIS ICD 1.0 Table 22
constexpr size_t HAS_MSG_IOD_GPS_LENGTH = 8; // HAS SIS ICD 1.0 Table 26
constexpr size_t HAS_MSG_IOD_GAL_LENGTH = 10; // HAS SIS ICD 1.0 Table 26
constexpr size_t HAS_MSG_DELTA_RADIAL_LENGTH = 13; // HAS SIS ICD 1.0 Table 25
constexpr size_t HAS_MSG_DELTA_IN_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
constexpr size_t HAS_MSG_DELTA_CROSS_TRACK_LENGTH = 12; // HAS SIS ICD 1.0 Table 25
constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_LENGTH = 2; // HAS SIS ICD 1.0 Table 28
constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_LENGTH = 13; // HAS SIS ICD 1.0 Table 31
constexpr size_t HAS_MSG_NSYS_SUB_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
constexpr size_t HAS_MSG_ID_CLOCK_SUBSET_LENGTH = 4; // HAS SIS ICD 1.0 Table 32
constexpr size_t HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH = 2; // HAS SIS ICD 1.0 Table 33
constexpr size_t HAS_MSG_DELTA_CLOCK_CORRECTION_SUBSET_LENGTH = 13; // HAS SIS ICD 1.0 Table 34
constexpr size_t HAS_MSG_CODE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 37
constexpr size_t HAS_MSG_PHASE_BIAS_LENGTH = 11; // HAS SIS ICD 1.0 Table 40
constexpr size_t HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH = 2; // HAS SIS ICD 1.0 Table 40
constexpr int32_t HAS_MSG_NUMBER_MASK_IDS = 32;
constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16;
constexpr int32_t HAS_MSG_NUMBER_MESSAGE_IDS = 32;
constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40;
constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16;
constexpr uint64_t MAX_SECONDS_REMEMBERING_MID = 150; // HAS SIS ICD 1.0 Section 6.4.1 HAS Message Completion Time-out
constexpr float HAS_MSG_DELTA_RADIAL_SCALE_FACTOR = 0.0025;
constexpr float HAS_MSG_DELTA_ALONG_TRACK_SCALE_FACTOR = 0.008;
constexpr float HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR = 0.008;
constexpr float HAS_MSG_DELTA_CLOCK_SCALE_FACTOR = 0.0025;
constexpr float HAS_MSG_CODE_BIAS_SCALE_FACTOR = 0.02;
constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01;
// Galileo CNAV message structure
constexpr int32_t GALILEO_CNAV_SYMBOLS_PER_PAGE = 1000; // Total numer of symbols per HAS page including the sync pattern
constexpr int32_t GALILEO_CNAV_PREAMBLE_PERIOD_SYMBOLS = 1000;
constexpr int32_t GALILEO_CNAV_PAGE_MS = 1; // Duration in ms of a CNAV page
constexpr int32_t GALILEO_CNAV_INTERLEAVER_ROWS = 8; // HAS SIS ICD 1.0 Table 4
constexpr int32_t GALILEO_CNAV_INTERLEAVER_COLS = 123; // HAS SIS ICD 1.0 Table 4
constexpr int32_t GALILEO_CNAV_TELEMETRY_RATE_BITS_SECOND = 1000; // bps
constexpr int32_t GALILEO_CNAV_HAS_PAGE_DATA_BITS = 448; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_PAGE_RESERVED_BITS = 14; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_BYTES_FOR_CRC = 58; // ceil(462 / 8)
constexpr int32_t GALILEO_CNAV_CRC_LENGTH = 24; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_MESSAGE_BITS_PER_PAGE = 424; // HAS SIS ICD 1.0 Table 6
constexpr int32_t GALILEO_CNAV_PAGE_HEADER_BITS = 24; // HAS SIS ICD 1.0 Table 6
constexpr int32_t GALILEO_CNAV_PREAMBLE_LENGTH_BITS = 16; // HAS SIS ICD 1.0 Table 5
constexpr int32_t GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK = 255; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
constexpr int32_t GALILEO_CNAV_MT1_HEADER_BITS = 32; // HAS SIS ICD 1.0 Table 11
constexpr int32_t GALILEO_CNAV_OCTETS_IN_SUBPAGE = 53; // HAS SIS ICD 1.0 Section 6.3 HAS Encoding and Transmission
constexpr int32_t GALILEO_CNAV_INFORMATION_VECTOR_LENGTH = 32; // HAS SIS ICD 1.0 Section 6.2 Reed-Solomon Code
constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599;
constexpr int32_t GALILEO_CNAV_BITS_FOR_CRC = GALILEO_CNAV_HAS_PAGE_DATA_BITS + GALILEO_CNAV_PAGE_RESERVED_BITS; // 462
constexpr uint8_t HAS_MSG_GPS_SYSTEM = 0; // Table 8 ICD v1.2
constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // Table 8 ICD v1.2
constexpr int32_t HAS_MSG_NUMBER_MASK_IDS = 32; // HAS SIS ICD 1.0 Table 13
constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16; // HAS SIS ICD 1.0 Table 18
constexpr int32_t HAS_MSG_NUMBER_MESSAGE_IDS = 32; // HAS SIS ICD 1.0 Table 8
constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40; // HAS SIS ICD 1.0 Table 19
constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16; // HAS SIS ICD 1.0 Table 20
constexpr float HAS_MSG_DELTA_RADIAL_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 25
constexpr float HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
constexpr float HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR = 0.008; // HAS SIS ICD 1.0 Table 25
constexpr float HAS_MSG_DELTA_CLOCK_SCALE_FACTOR = 0.0025; // HAS SIS ICD 1.0 Table 31
constexpr float HAS_MSG_CODE_BIAS_SCALE_FACTOR = 0.02; // HAS SIS ICD 1.0 Table 37
constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01; // HAS SIS ICD 1.0 Table 40
constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599; // HAS SIS ICD 1.0 Table 13
constexpr uint8_t HAS_MSG_GPS_SYSTEM = 0; // HAS SIS ICD 1.0 Table 18
constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // HAS SIS ICD 1.0 Table 18
constexpr uint8_t HAS_MSG_WRONG_SYSTEM = 255;
constexpr char GALILEO_CNAV_PREAMBLE[17] = "1011011101110000"; // HAS SIS ICD 1.0 Section 2.3.1
// HAS SIS ICD 1.0 Table 7
const std::pair<int32_t, int32_t> GALILEO_HAS_STATUS({1, 2});
const std::pair<int32_t, int32_t> GALILEO_HAS_RESERVED({3, 2});
const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_TYPE({5, 2});
@ -101,6 +104,7 @@ const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_ID({7, 5});
const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_SIZE({12, 5});
const std::pair<int32_t, int32_t> GALILEO_HAS_MESSAGE_PAGE_ID({17, 8});
// HAS SIS ICD 1.0 Table 12
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_TOH({1, 12});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_FLAG({13, 1});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG({14, 1});
@ -108,9 +112,9 @@ const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CLOCK_FULLSET_FLAG({15, 1})
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CLOCK_SUBSET_FLAG({16, 1});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_CODE_BIAS_FLAG({17, 1});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_PHASE_BIAS_FLAG({18, 1});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_URA_FLAG({19, 1});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_RESERVED({19, 4});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_MASK_ID({23, 5});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_IOD_ID({28, 5});
const std::pair<int32_t, int32_t> GALILEO_MT1_HEADER_IOD_SET_ID({28, 5});
/** \} */

12
src/core/system_parameters/galileo_cnav_message.cc
View File

@ -1,16 +1,16 @@
/*!
* \file galileo_cnav_message.cc
* \brief Implementation of a Galileo CNAV Data message as described in
* Galileo High Accuracy Service E6-B Signal-In-Space Message Specification v1.2
* (April 2020)
* \author Carles Fernandez-Prades, 2020-2021 cfernandez(at)cttc.es
* Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022
* \author Carles Fernandez-Prades, 2020-2022 cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@ -67,7 +67,7 @@ void Galileo_Cnav_Message::read_HAS_page(const std::string& page_string)
read_HAS_page_header(page_string.substr(GALILEO_CNAV_PAGE_RESERVED_BITS, GALILEO_CNAV_PAGE_HEADER_BITS));
bool use_has = false;
d_test_mode = false;
// HAS status as defined in ICD v1.2 Table 5 HAS Page Header
// HAS status as defined in HAS SIS ICD v1.0 Table 9 - HASS values and corresponding semantic
if (!d_page_dummy)
{
switch (d_has_page_status)
@ -118,7 +118,7 @@ void Galileo_Cnav_Message::read_HAS_page_header(const std::string& page_string)
}
if (!d_page_dummy)
{
// ICD v1.2 Table 5: HAS page header
// HAS SIS ICD v1.0 Table 7: HAS page header
const std::bitset<GALILEO_CNAV_PAGE_HEADER_BITS> has_page_header(page_string);
d_has_page_status = read_has_page_header_parameter(has_page_header, GALILEO_HAS_STATUS);
d_has_reserved = read_has_page_header_parameter(has_page_header, GALILEO_HAS_RESERVED);

17
src/core/system_parameters/galileo_cnav_message.h
View File

@ -1,16 +1,16 @@
/*!
* \file galileo_cnav_message.h
* \brief Implementation of a Galileo CNAV Data message as described in
* Galileo High Accuracy Service E6-B Signal-In-Space Message Specification v1.2
* (April 2020)
* \author Carles Fernandez-Prades, 2020-2021 cfernandez(at)cttc.es
* Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022
* \author Carles Fernandez-Prades, 2020-2022 cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@ -34,8 +34,8 @@
/*!
* \brief This class handles the Galileo CNAV Data message, as described in the
* Galileo High Accuracy Service E6-B Signal-In-Space Message Specification v1.2
* (April 2020)
* Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022
*/
class Galileo_Cnav_Message
{
@ -69,6 +69,11 @@ public:
return d_flag_CRC_test;
}
inline void set_time_stamp(uint64_t time_stamp)
{
has_page.time_stamp = time_stamp;
}
private:
uint8_t read_has_page_header_parameter(const std::bitset<GALILEO_CNAV_PAGE_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
bool CRC_test(const std::bitset<GALILEO_CNAV_BITS_FOR_CRC>& bits, uint32_t checksum) const;

78
src/core/system_parameters/galileo_has_data.cc
View File

@ -1,14 +1,14 @@
/*!
* \file galileo_has_data.cc
* \brief Class for Galileo HAS message type 1 data storage
* \author Carles Fernandez-Prades, 2020-2021 cfernandez(at)cttc.es
* \author Carles Fernandez-Prades, 2020-2022 cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@ -117,6 +117,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
{
uint8_t system = gnss_id_mask[nsys];
std::string signal;
// See HAS SIS ICD v1.0 Table 20
switch (k)
{
case 0:
@ -171,7 +172,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
if (system == 0)
{
// GPS
signal = "L1 L1C(D)";
signal = "L1C(D)";
}
else if (system == 2)
{
@ -187,7 +188,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
if (system == 0)
{
// GPS
signal = "L1 L1C(P)";
signal = "L1C(P)";
}
else if (system == 2)
{
@ -203,7 +204,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
if (system == 0)
{
// GPS
signal = "L1 L1C(D+P)";
signal = "L1C(D+P)";
}
else if (system == 2)
{
@ -219,7 +220,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
if (system == 0)
{
// GPS
signal = "L2 L2C(M)";
signal = "L2 CM";
}
else if (system == 2)
{
@ -235,7 +236,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
if (system == 0)
{
// GPS
signal = "L2 L2C(L)";
signal = "L2 CL";
}
else if (system == 2)
{
@ -251,7 +252,7 @@ std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) con
if (system == 0)
{
// GPS
signal = "L2 L2C(M+L)";
signal = "L2 CM+CL";
}
else if (system == 2)
{
@ -405,6 +406,7 @@ uint8_t Galileo_HAS_data::get_gnss_id(int nsat) const
uint16_t Galileo_HAS_data::get_validity_interval_s(uint8_t validity_interval_index) const
{
uint16_t validity_interval;
// See HAS SIS ICD v1.0 Table 23
switch (validity_interval_index)
{
case 0:
@ -503,28 +505,28 @@ std::vector<float> Galileo_HAS_data::get_delta_radial_m(uint8_t nsys) const
}
std::vector<float> Galileo_HAS_data::get_delta_along_track_m() const
std::vector<float> Galileo_HAS_data::get_delta_in_track_m() const
{
std::vector<float> delta_along_track_m;
delta_along_track_m.reserve(this->delta_along_track.size());
for (const auto& d : this->delta_along_track)
std::vector<float> delta_in_track_m;
delta_in_track_m.reserve(this->delta_in_track.size());
for (const auto& d : this->delta_in_track)
{
delta_along_track_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_ALONG_TRACK_SCALE_FACTOR);
delta_in_track_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR);
}
return delta_along_track_m;
return delta_in_track_m;
}
std::vector<float> Galileo_HAS_data::get_delta_along_track_m(uint8_t nsys) const
std::vector<float> Galileo_HAS_data::get_delta_in_track_m(uint8_t nsys) const
{
std::vector<float> delta_along_track_m = this->get_delta_along_track_m();
std::vector<float> delta_in_track_m = this->get_delta_in_track_m();
if (nsys >= this->Nsys)
{
return delta_along_track_m;
return delta_in_track_m;
}
std::vector<float> delta_along_track_m_aux;
std::vector<float> delta_in_track_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_along_track_m_aux.reserve(num_sats_in_this_system);
delta_in_track_m_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
@ -538,12 +540,12 @@ std::vector<float> Galileo_HAS_data::get_delta_along_track_m(uint8_t nsys) const
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
delta_along_track_m_aux.push_back(delta_along_track_m[index]);
delta_in_track_m_aux.push_back(delta_in_track_m[index]);
index++;
}
}
}
return delta_along_track_m_aux;
return delta_in_track_m_aux;
}
@ -551,7 +553,7 @@ std::vector<float> Galileo_HAS_data::get_delta_cross_track_m() const
{
std::vector<float> delta_cross_track_m;
delta_cross_track_m.reserve(this->delta_cross_track.size());
for (const auto& d : this->delta_along_track)
for (const auto& d : this->delta_cross_track)
{
delta_cross_track_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR);
}
@ -591,28 +593,28 @@ std::vector<float> Galileo_HAS_data::get_delta_cross_track_m(uint8_t nsys) const
}
std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m() const
std::vector<float> Galileo_HAS_data::get_delta_clock_correction_m() const
{
std::vector<float> delta_clock_c0_m;
delta_clock_c0_m.reserve(this->delta_clock_c0.size());
for (const auto& d : this->delta_clock_c0)
std::vector<float> delta_clock_correction_m;
delta_clock_correction_m.reserve(this->delta_clock_correction.size());
for (const auto& d : this->delta_clock_correction)
{
delta_clock_c0_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
delta_clock_correction_m.push_back(static_cast<float>(d) * HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
}
return delta_clock_c0_m;
return delta_clock_correction_m;
}
std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m(uint8_t nsys) const
std::vector<float> Galileo_HAS_data::get_delta_clock_correction_m(uint8_t nsys) const
{
std::vector<float> delta_clock_c0_m = this->get_delta_clock_c0_m();
std::vector<float> delta_clock_correction_m = this->get_delta_clock_correction_m();
if (nsys >= this->Nsys)
{
return delta_clock_c0_m;
return delta_clock_correction_m;
}
std::vector<float> delta_clock_c0_m_aux;
std::vector<float> delta_clock_correction_m_aux;
uint8_t num_sats_in_this_system = this->get_num_satellites()[nsys];
delta_clock_c0_m_aux.reserve(num_sats_in_this_system);
delta_clock_correction_m_aux.reserve(num_sats_in_this_system);
size_t index = 0;
for (uint8_t sys = 0; sys <= nsys; sys++)
@ -626,12 +628,12 @@ std::vector<float> Galileo_HAS_data::get_delta_clock_c0_m(uint8_t nsys) const
{
for (uint8_t sat = 0; sat < num_sats_in_system; sat++)
{
delta_clock_c0_m_aux.push_back(delta_clock_c0_m[index]);
delta_clock_correction_m_aux.push_back(delta_clock_correction_m[index]);
index++;
}
}
}
return delta_clock_c0_m_aux;
return delta_clock_correction_m_aux;
}
@ -760,8 +762,8 @@ std::vector<std::string> Galileo_HAS_data::get_systems_string() const
}
uint16_t Galileo_HAS_data::get_nsatprime() const
uint16_t Galileo_HAS_data::get_nsat_sub() const
{
auto Nsatprime = static_cast<uint16_t>(this->delta_clock_c0_clock_subset.size());
return Nsatprime;
auto Nsat_sub = static_cast<uint16_t>(this->delta_clock_correction_clock_subset.size());
return Nsat_sub;
}

92
src/core/system_parameters/galileo_has_data.h
View File

@ -1,14 +1,14 @@
/*!
* \file galileo_has_data.h
* \brief Class for Galileo HAS message type 1 data storage
* \author Carles Fernandez-Prades, 2020-2021 cfernandez(at)cttc.es
* \author Carles Fernandez-Prades, 2020-2022 cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@ -31,20 +31,21 @@ struct mt1_header
{
uint16_t toh;
uint8_t mask_id;
uint8_t iod_id;
uint8_t iod_set_id;
uint8_t reserved;
bool mask_flag;
bool orbit_correction_flag;
bool clock_fullset_flag;
bool clock_subset_flag;
bool code_bias_flag;
bool phase_bias_flag;
bool ura_flag;
};
/*!
* \brief This class is a storage for Galileo HAS message type 1, as defined in
* Galileo High Accuracy Service E6-B Signal-In-Space Message Specification v1.2
* (April 2020).
* Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022.
* See https://www.gsc-europa.eu/sites/default/files/sites/all/files/Galileo_HAS_SIS_ICD_v1.0.pdf
*/
class Galileo_HAS_data
{
@ -57,69 +58,64 @@ public:
std::vector<std::vector<float>> get_phase_bias_cycle() const; //!< Get Nsat x Nphases phase biases in [cycles]
std::vector<float> get_delta_radial_m() const; //!< Get Nsat delta radial corrections in [m]
std::vector<float> get_delta_radial_m(uint8_t nsys) const; //!< Get delta radial corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_along_track_m() const; //!< Get Nsat delta along_track corrections in [m]
std::vector<float> get_delta_along_track_m(uint8_t nsys) const; //!< Get alog-track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_cross_track_m() const; //!< Get Nsat delta cross_track corrections in [m]
std::vector<float> get_delta_cross_track_m(uint8_t nsys) const; //!< Get delta cross_track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_clock_c0_m() const; //!< Get Nsat delta clock C0 corrections in [m]
std::vector<float> get_delta_clock_c0_m(uint8_t nsys) const; //!< Get delta clock C0 corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_in_track_m() const; //!< Get Nsat delta in-track corrections in [m]
std::vector<float> get_delta_in_track_m(uint8_t nsys) const; //!< Get delta in-track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_cross_track_m() const; //!< Get Nsat delta cross-track corrections in [m]
std::vector<float> get_delta_cross_track_m(uint8_t nsys) const; //!< Get delta cross-track corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<float> get_delta_clock_correction_m() const; //!< Get Nsat delta clock C0 corrections in [m]
std::vector<float> get_delta_clock_correction_m(uint8_t nsys) const; //!< Get delta clock C0 corrections in [m] for system nsys, with 0 <= nsys < Nsys
std::vector<int> get_PRNs_in_mask(uint8_t nsys) const; //!< Get PRNs in mask for system nsys, with 0 <= nsys < Nsys
std::vector<int> get_PRNs_in_submask(uint8_t nsys) const; //!< Get PRNs in submask for system nsys, with 0 <= nsys < Nsys
std::vector<uint16_t> get_gnss_iod(uint8_t nsys) const; //!< Get GNSS IODs for for system nsys, with 0 <= nsys < Nsys
std::vector<uint8_t> get_num_satellites() const; //!< Get Nsys number of satellites
uint16_t get_nsat() const; //!< Get total number of satellites with corrections
uint16_t get_nsatprime() const; //!< Get number of satellites in clock subset corrections
uint16_t get_validity_interval_s(uint8_t validity_interval_index) const; //!< Get validity interbal in [s] from the validity_interval_index
uint16_t get_nsat_sub() const; //!< Get number of satellites in clock subset corrections
uint16_t get_validity_interval_s(uint8_t validity_interval_index) const; //!< Get validity interval in [s] from the validity_interval_index
uint8_t get_gnss_id(int nsat) const; //!< Get GNSS ID from the nsat satellite
// Mask
std::vector<uint8_t> gnss_id_mask;
std::vector<uint64_t> satellite_mask;
std::vector<uint16_t> signal_mask;
std::vector<bool> cell_mask_availability_flag;
std::vector<std::vector<std::vector<bool>>> cell_mask;
std::vector<uint8_t> nav_message;
std::vector<uint8_t> gnss_id_mask; //!< GNSS ID. See HAS SIS ICD 1.0 Section 5.2.1.1
std::vector<uint64_t> satellite_mask; //!< SatM - Satellite Mask. See HAS SIS ICD 1.0 Section 5.2.1.2
std::vector<uint16_t> signal_mask; //!< SigM - Signal Mask. See HAS SIS ICD 1.0 Section 5.2.1.3
std::vector<bool> cell_mask_availability_flag; //!< CMAF - Cell Mask Availability Flag. See HAS SIS ICD 1.0 Section 5.2.1.4
std::vector<std::vector<std::vector<bool>>> cell_mask; //!< CM - Cell Mask. See HAS SIS ICD 1.0 Section 5.2.1.5
std::vector<uint8_t> nav_message; //!< NM - Navigation Message Index. See HAS SIS ICD 1.0 Section 5.2.1.6
// Orbit corrections
std::vector<uint16_t> gnss_iod;
std::vector<int16_t> delta_radial;
std::vector<int16_t> delta_along_track;
std::vector<int16_t> delta_cross_track;
std::vector<uint16_t> gnss_iod; //!< IODref - Reference Issue of Data. See HAS SIS ICD 1.0 Table 26
std::vector<int16_t> delta_radial; //!< DR - Delta Radial Correction. See HAS SIS ICD 1.0 Table 25
std::vector<int16_t> delta_in_track; //!< DIT - Delta In-Track Correction. See HAS SIS ICD 1.0 Table 25
std::vector<int16_t> delta_cross_track; //!< DCT - Delta Cross Correction. See HAS SIS ICD 1.0 Table 25
// Clock full-set corrections
std::vector<uint8_t> delta_clock_c0_multiplier;
std::vector<bool> iod_change_flag;
std::vector<int16_t> delta_clock_c0;
std::vector<uint8_t> delta_clock_multiplier; //!< DCM - Delta Clock Multipliers. See HAS SIS ICD 1.0 Section 5.2.3.1
std::vector<int16_t> delta_clock_correction; //!< DCC - Delta Clock Corrections. See HAS SIS ICD 1.0 Section 5.2.3.2
// Clock subset corrections
std::vector<uint8_t> gnss_id_clock_subset;
std::vector<uint8_t> delta_clock_c0_multiplier_clock_subset;
std::vector<uint64_t> satellite_submask;
std::vector<std::vector<bool>> iod_change_flag_clock_subset;
std::vector<std::vector<int16_t>> delta_clock_c0_clock_subset;
std::vector<uint8_t> gnss_id_clock_subset; //!< GNSS ID. Specific GNSS to which the corrections refer. See HAS SIS ICD 1.0 Section 5.2.1.1
std::vector<uint8_t> delta_clock_multiplier_clock_subset; //!< DCM. Multiplier for all Delta Clock corrections. See HAS SIS ICD 1.0 Section 5.2.3.1
std::vector<uint64_t> satellite_submask; //!< SatMsub - Satellite Subset Mask. See HAS SIS ICD 1.0 Section 5.2.4.1
std::vector<std::vector<int16_t>> delta_clock_correction_clock_subset; //!< DCCsub - Delta Clock Subset Corrections. See HAS SIS ICD 1.0 Section 5.2.4.1
// Code bias
std::vector<std::vector<int16_t>> code_bias;
std::vector<std::vector<int16_t>> code_bias; //!< CB - Code bias for the m-th signal of the n-th SV. See HAS SIS ICD 1.0 Section 5.2.5
// Phase bias
std::vector<std::vector<int16_t>> phase_bias;
std::vector<std::vector<uint8_t>> phase_discontinuity_indicator;
std::vector<std::vector<int16_t>> phase_bias; //!< PB - Phase bias for the m-th signal of the n-th SV. See HAS SIS ICD 1.0 Section 5.2.6
std::vector<std::vector<uint8_t>> phase_discontinuity_indicator; //!< PDI - Phase Discontinuity Indicator. See HAS SIS ICD 1.0 Section 5.2.6.
// URA
std::vector<uint8_t> ura;
mt1_header header; //!< MT1 Header parameters. See HAS SIS ICD 1.0 Section 5.1.1
uint8_t has_status; //!< HASS - HAS Status (from HAS page header). See HAS SIS ICD 1.0 Section 3.1.1
uint8_t message_id; //!< MID - Message ID (from HAS page header). See HAS SIS ICD 1.0 Section 3.1
mt1_header header;
uint8_t has_status;
uint8_t message_id;
uint8_t Nsys; //!< Number of GNSS for which corrections are provided. See HAS SIS ICD 1.0 Setion 5.2.1
uint8_t Nsys_sub; //!< Number of GNSS for which corrections are provided in clock subset corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t Nsys; //!< Number of GNSS for which corrections are provided
uint8_t validity_interval_index_orbit_corrections; // in Orbit corrections
uint8_t validity_interval_index_clock_fullset_corrections; // in Clock full-set corrections
uint8_t validity_interval_index_clock_subset_corrections; // in Clock subset corrections
uint8_t Nsysprime; // in Clock subset corrections
uint8_t validity_interval_index_code_bias_corrections; // in Code bias
uint8_t validity_interval_index_phase_bias_corrections; // in Phase bias
uint8_t validity_interval_index_ura_corrections; // in URA
uint8_t validity_interval_index_orbit_corrections; //!< VI - Validity Interval Index for Orbit corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_clock_fullset_corrections; //!< VI - Validity Interval Index for Clock full-set corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_clock_subset_corrections; //!< VI - Validity Interval Index for Clock subset corrections. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_code_bias_corrections; //!< VI - Validity Interval Index for Code bias. See HAS SIS ICD 1.0 Section 5.2.2.1
uint8_t validity_interval_index_phase_bias_corrections; //!< VI - Validity Interval Index for Phase bias. See HAS SIS ICD 1.0 Section 5.2.2.1
};

7
src/core/system_parameters/galileo_has_page.h
View File

@ -8,7 +8,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@ -29,8 +29,8 @@
/*!
* \brief This class is a storage for Galileo HAS message page, as defined in
* Galileo High Accuracy Service E6-B Signal-In-Space Message Specification v1.2
* (April 2020).
* Galileo High Accuracy Service Signal-In-Space Interface Control Document
* (HAS SIS ICD) Issue 1.0, May 2022
*/
class Galileo_HAS_page
{
@ -38,6 +38,7 @@ public:
Galileo_HAS_page() = default;
std::string has_message_string; //!< HAS message content
uint64_t time_stamp{}; //!< HAS page time stamp, in [s]
// HAS page header
uint8_t has_status{}; //!< HAS status

1
src/tests/test_main.cc
View File

@ -131,6 +131,7 @@ DECLARE_string(log_dir);
#include "unit-tests/system-parameters/glonass_gnav_crc_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
#include "unit-tests/system-parameters/has_decoding_test.cc"
#if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"

16
src/tests/unit-tests/system-parameters/galileo_e6b_reed_solomon_test.cc
View File

@ -22,12 +22,12 @@
TEST(ReedSolomonE6BTest, EncodeWithGenMatrix)
{
// input vector as defined in Galileo HAS ICD v1.2, Annex D
// input vector
const std::vector<uint8_t> 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};
// Expected encoded output as defined in Galileo HAS ICD v1.2, Annex D
// Expected encoded output
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, 133, 210, 122, 224, 75, 138,
@ -55,12 +55,12 @@ TEST(ReedSolomonE6BTest, EncodeWithGenMatrix)
TEST(ReedSolomonE6BTest, EncodeWithGenPoly)
{
// input vector as defined in Galileo HAS ICD v1.2, Annex D
// input vector
const std::vector<uint8_t> 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};
// Expected encoded output as defined in Galileo HAS ICD v1.2, Annex D
// Expected encoded output
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, 133, 210, 122, 224, 75, 138,
@ -88,12 +88,12 @@ TEST(ReedSolomonE6BTest, EncodeWithGenPoly)
TEST(ReedSolomonE6BTest, EncodeWithCustomPoly)
{
// input vector as defined in Galileo HAS ICD v1.2, Annex D
// input vector
const std::vector<uint8_t> 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};
// Expected encoded output as defined in Galileo HAS ICD v1.2, Annex D
// Expected encoded output
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, 133, 210, 122, 224, 75, 138,
@ -144,12 +144,12 @@ TEST(ReedSolomonE6BTest, EncodeWithCustomPoly)
TEST(ReedSolomonE6BTest, EncodeWithCustomMatrix)
{
// input vector as defined in Galileo HAS ICD v1.2, Annex D
// input vector
const std::vector<uint8_t> 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};
// Expected encoded output as defined in Galileo HAS ICD v1.2, Annex D
// Expected encoded output
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, 133, 210, 122, 224, 75, 138,

364
src/tests/unit-tests/system-parameters/has_decoding_test.cc Normal file
View File

@ -0,0 +1,364 @@
/*!
* \file has_decoding_test.cc
* \brief Tests for HAS message 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) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "galileo_e6_has_msg_receiver.h"
#include "galileo_has_data.h"
#include "galileo_has_page.h"
#include "gnss_sdr_make_unique.h"
#include "has_simple_printer.h"
#include <gflags/gflags.h>
#include <gtest/gtest.h>
#include <bitset>
#include <cstddef>
#include <cstdint>
#include <iostream>
#include <limits>
#include <sstream>
#include <string>
#include <vector>
// Usage:
// ./run_tests --gtest_filter=HAS_Test.Decoder
// ./run_tests --gtest_filter=HAS_Test.Decoder --has_data_test_file=../data/HAS_Messages_sample/encoded/Sample_HAS_Pages_Encoded_20210713_08.txt --start_page_test_file=70
DEFINE_string(has_data_test_file, std::string(""), "File containing encoded HAS pages (format: [time sat_id HAS_page_in_hex] in each line)");
DEFINE_int32(start_page_test_file, 0, "Starting page in case of reading HAS pages from a file");
#if PMT_USES_BOOST_ANY
namespace wht = boost;
#else
namespace wht = std;
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class HasDecoderTester;
using HasDecoderTester_sptr = gnss_shared_ptr<HasDecoderTester>;
HasDecoderTester_sptr HasDecoderTester_make();
class HasDecoderTester : public gr::block
{
private:
friend HasDecoderTester_sptr HasDecoderTester_make();
HasDecoderTester();
public:
std::shared_ptr<Galileo_HAS_page> generate_has_page(const std::string& page, int rx_time);
~HasDecoderTester(); //!< Default destructor
};
HasDecoderTester_sptr HasDecoderTester_make()
{
return HasDecoderTester_sptr(new HasDecoderTester());
}
std::shared_ptr<Galileo_HAS_page> HasDecoderTester::generate_has_page(const std::string& page, int rx_time)
{
auto gh = std::make_shared<Galileo_HAS_page>();
std::string bits;
for (size_t i = 0; i < page.size(); i++)
{
std::string s = page.substr(i, 1);
std::stringstream ss;
ss << std::hex << s;
unsigned n;
ss >> n;
std::bitset<4> b(n);
bits += b.to_string();
}
if (page.substr(0, 6) != "AF3BC3") // if not dummy
{
gh->has_message_string = bits.substr(24, 424);
}
gh->time_stamp = rx_time;
std::bitset<2> b_has_status(bits.substr(0, 2));
gh->has_status = b_has_status.to_ulong();
std::bitset<2> b_has_reserved(bits.substr(2, 2));
gh->reserved = b_has_reserved.to_ulong();
std::bitset<2> b_message_type(bits.substr(4, 2));
gh->message_type = b_message_type.to_ulong();
std::bitset<5> b_message_id(bits.substr(6, 5));
gh->message_id = b_message_id.to_ulong();
std::bitset<5> b_message_size(bits.substr(11, 5));
gh->message_size = b_message_size.to_ulong() + 1;
std::bitset<8> b_message_page_id(bits.substr(16, 8));
gh->message_page_id = b_message_page_id.to_ulong();
return gh;
}
HasDecoderTester::HasDecoderTester() : gr::block("HasDecoderTester", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
}
HasDecoderTester::~HasDecoderTester() = default;
// ###########################################################
class Read_Encoded_Pages
{
public:
Read_Encoded_Pages() = default;
std::vector<std::string> get_pages() const
{
return page;
};
std::vector<std::string> get_sats() const
{
return sat;
};
std::vector<int> get_time() const
{
return rx_time;
};
size_t get_number_pages()
{
return page.size();
};
bool is_known_data()
{
return known_test_data;
};
inline bool read_data(const std::string& input_filename)
{
if (input_filename.empty())
{
page = {
"07AC6195E44FBA30126D3291D1D973CF3A2C066B77C0816068769E6232772D8086B652DEA8DFC9470B7E12891F27458B84EE1A3D391E20EE",
"07AC746F1DA0B7DE403789910C247DCC8CB7AACBA0A395086EEF44091385FF7625FF276A0DF4131195F28794D812A987C53186CE332C2417",
"07AC877DCF08B51A8CDB5B1D98790DED6E2365123139CFAD31BC6A84D1D9F0FEB70BC74064DD533D069EEF4D3850B500A7CDAAB1B8F56AA4",
"07AC9AAD3485E17627D3697D8537A1DD44BC9923088078182A808E99DE334BEEFF560152B986035325EFDC7D0A43913D926C71C3B12AB757",
"07ACAD94E50D544B7130F3840FCEFD4D2AA5A5A66876ECBFFCB0869C5127401B125F3021E70012ECECC4CF6AC1CE65737585095885067A92",
"07AC263E0B467BD3AB999E76A9A8D05B18E6B818307C81EEF6DD14722388B72D5651E78F04D1D52E131494D624518F6358B19F508F3C7950",
"07AC39CC3470C0F3EEA678A635BA8D7D3FAD16BB0879549DB6835C2DBA92D53A06C919E702C0242F523CCCD5F88FC45AF21DA0519F28E506",
"07AC4C87FB8058D90D518A035849C341E421F0DD280A77FC57FE5823B9AD68A6D8EE7D7EC0FD6208DD969F4FAC3E4D7B4214FF808E2EDC7B",
"07AC5FD3E1D40A6E958E9C139DF60252A67F6DA37B7E416557058E6D979EC4DEB9802EDE9AD49E47B522A133A05FABFAF1212BF3219AED56",
"07AC72FEB3494D685DA492DA72E415A1255BE7DC08AD4EB1617428636CC30EAAB6A9948E03ED69887717D81F2324E48D717847FF29CEE115",
"07AC8553C81674CA989EE3B762BFE9F7113F9458A5FD2749D0B685A4F49012532088C872254C881194C7641762A7B9495A02BCD6686CE17F",
"07AC987E7D3A9854AA56BCCD7170CB6939966DA4F2199A0C6C5F9CAB5B24539786CCB299DA69DE4EEE9698EEDD2D7BD409565C27674B4268",
"07ACAB286D5CA9F01FEC5F5105132F0A41EFCFB5E970C06395B3FE72C3D3B476BADF27DC9CA50ED9EC997AB8BED648DF1424EE56FFAD35B1"};
rx_time = {690883223, 690883223, 690883223, 690883223, 690883223, 690883224, 690883224, 690883224, 690883224, 690883224, 690883224, 690883224};
known_test_data = true;
return true;
}
known_test_data = false;
indata.open(input_filename);
if (!indata)
{ // file couldn't be opened
std::cerr << "Error: file could not be opened\n";
return false;
}
while (!indata.eof())
{
indata >> time_instant;
indata >> sat_id;
indata >> page_content;
rx_time.push_back(time_instant);
sat.push_back(sat_id);
page.push_back(page_content);
}
return true;
}
private:
std::vector<int> rx_time;
std::vector<std::string> sat;
std::vector<std::string> page;
std::ifstream indata;
std::string sat_id;
std::string page_content;
int time_instant{};
bool known_test_data{};
};
TEST(HAS_Test, Decoder)
{
Read_Encoded_Pages read_pages{};
EXPECT_TRUE(read_pages.read_data(FLAGS_has_data_test_file));
auto gal_e6_has_rx_ = galileo_e6_has_msg_receiver_make();
auto has_tester = HasDecoderTester_make();
std::unique_ptr<Has_Simple_Printer> has_simple_printer = nullptr;
auto pages = read_pages.get_pages();
auto rx_time = read_pages.get_time();
bool known_data = read_pages.is_known_data();
int init = 0;
if (!known_data)
{
has_simple_printer = std::make_unique<Has_Simple_Printer>();
if (static_cast<size_t>(FLAGS_start_page_test_file) < read_pages.get_number_pages())
{
init = FLAGS_start_page_test_file;
}
else
{
std::cerr << "The flag --start_page_test_file is set beyond the total number of pages in the file (" << read_pages.get_number_pages() << "), ignoring it.\n";
}
}
for (size_t p = init; p < read_pages.get_number_pages(); p++)
{
auto has_page = has_tester->generate_has_page(pages[p], rx_time[p]);
if (!has_page->has_message_string.empty()) // if not dummy
{
auto has_message = gal_e6_has_rx_->process_test_page(pmt::make_any(has_page));
if (has_message != nullptr)
{
if (known_data)
{
EXPECT_EQ(has_message->header.toh, 0);
EXPECT_EQ(has_message->header.mask_flag, true);
EXPECT_EQ(has_message->header.orbit_correction_flag, true);
EXPECT_EQ(has_message->header.clock_fullset_flag, false);
EXPECT_EQ(has_message->header.clock_subset_flag, false);
EXPECT_EQ(has_message->header.code_bias_flag, true);
EXPECT_EQ(has_message->header.phase_bias_flag, true);
EXPECT_EQ(has_message->header.reserved, 0);
EXPECT_EQ(has_message->header.mask_id, 1);
EXPECT_EQ(has_message->header.iod_set_id, 4);
EXPECT_EQ(has_message->Nsys, 2);
EXPECT_EQ(has_message->gnss_id_mask[0], 0);
std::vector<int> prns = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32};
EXPECT_EQ(has_message->get_PRNs_in_mask(0), prns);
EXPECT_EQ(has_message->get_signals_in_mask(0)[0], "L1 C/A");
EXPECT_EQ(has_message->cell_mask_availability_flag[0], false);
EXPECT_EQ(has_message->nav_message[0], 0);
EXPECT_EQ(has_message->gnss_id_mask[1], 2);
prns = {1, 2, 3, 4, 5, 7, 8, 9, 11, 12, 13, 15, 19, 21, 24, 25, 26, 27, 30, 31, 33, 36};
EXPECT_EQ(has_message->get_PRNs_in_mask(1), prns);
EXPECT_EQ(has_message->get_signals_in_mask(1)[0], "E1-C");
EXPECT_EQ(has_message->get_signals_in_mask(1)[1], "E5a-Q");
EXPECT_EQ(has_message->get_signals_in_mask(1)[2], "E5b-Q");
EXPECT_EQ(has_message->get_signals_in_mask(1)[3], "E6-C");
EXPECT_EQ(has_message->cell_mask_availability_flag[1], false);
EXPECT_EQ(has_message->nav_message[1], 0);
EXPECT_EQ(has_message->validity_interval_index_orbit_corrections, 10);
std::vector<uint16_t> gnss_iod_expected = {17, 92, 1, 169, 13, 15, 67, 10, 84, 108, 34, 22, 203, 75, 91, 10, 60, 42, 35, 92, 48, 74, 81, 21, 19, 6, 0, 4,
86, 22, 78, 78, 74, 78, 76, 78, 78, 78, 78, 75, 78, 76, 74, 78, 78, 78, 78, 78, 78, 78, 78, 78, 77};
std::vector<float> delta_radial_expected = {-0.355, -0.0925, -0.3, -0.8675, 0.1, 0.075, -10.24, -0.0575, 0.0725, 0.22, -0.0825, 0.03, -0.95, -0.1125,
-0.045, -0.1725, -0.975, 0.0725, -0.045, -0.13, -0.335, -0.88, -0.0375, 0.2925, 0.2375, 0.1125, -10.24, 0.13, -0.08, -0.1125, -0.115};
std::vector<float> delta_in_track_expected = {1.552, -0.544, 0.16, -0.272, 0.048, -0.784, -16.384, -0.16, -0.728, -1.528, 0.656, -0.216, -0.552, 0.984,
-0.216, -0.712, 0.184, -0.984, 0.376, 1.136, -0.072, -0.352, 0.488, -0.136, -0.456, 0.04, -16.384, 0.024, -1.616, 1.336, 0.472};
std::vector<float> delta_cross_track_expected = {0.832, 0.056, -0.024, -0.176, 0.04, -0.352, -16.384, -0.44, 0.016, 0.736, 0.104, 0.136, 0.696, 0.08,
-0.192, 0.32, -0.552, -0.304, 0.464, -0.184, 0.576, 0.864, 0.4, -0.896, -1.288, -0.808, -16.384, -0.304, 1.104, 0.576, 0.576};
EXPECT_EQ(has_message->gnss_iod, gnss_iod_expected);
EXPECT_EQ(has_message->get_delta_radial_m(0).size(), delta_radial_expected.size());
EXPECT_EQ(has_message->get_delta_in_track_m(0).size(), delta_in_track_expected.size());
EXPECT_EQ(has_message->get_delta_cross_track_m(0).size(), delta_cross_track_expected.size());
for (size_t i = 0; i < has_message->get_delta_radial_m(0).size(); i++)
{
EXPECT_FLOAT_EQ(has_message->get_delta_radial_m(0)[i], delta_radial_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_delta_in_track_m(0)[i], delta_in_track_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_delta_cross_track_m(0)[i], delta_cross_track_expected[i]);
}
delta_radial_expected = {-0.1325, -0.0025, -0.1325, 0.0675, -0.0525, -0.2675, -0.1475, 0.0475, 0.17, 0.185, -0.195, -0.01, -0.0925, -0.155, 0.0375,
0.2075, 0.08, -0.175, -0.1925, -0.0375, -0.0575, 0.0875};
delta_in_track_expected = {0.056, -0.072, 0.184, 0.064, 0.256, -0.088, 0.024, 0.344, -0.16, -0.056, 0.112, 0.176, 0.448, -0.104, 0.264, -0.072,
-0.248, -0.128, 0.456, 0.352, -0.0960, -0.1360};
delta_cross_track_expected = {0.104, 0.192, 0.312, 0.104, 0.024, 0.392, 0.352, -0.048, -0.12, -0.032, -0.152, -0.328, -0.088, 0.16, 0.464, 0.256,
-0.064, 0.104, -0.128, 0.28, -0.104, -0.288};
for (size_t i = 0; i < has_message->get_delta_radial_m(1).size(); i++)
{
EXPECT_FLOAT_EQ(has_message->get_delta_radial_m(1)[i], delta_radial_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_delta_in_track_m(1)[i], delta_in_track_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_delta_cross_track_m(1)[i], delta_cross_track_expected[i]);
}
std::vector<float> code_bias_gps_expected = {-3.76, 4.38, -2.82, -0.60, 1.28, -3.46, 1.48, -3.04, -2.04, -2.64, 1.82, 1.60, 0.36, 1.08, 2.04, 1.44,
0.42, 4.10, 1.92, 2.28, 4.86, 0.46, -2.94, -3.04, -3.76, -2.08, 2.20, 1.12, -2.58, 1.94, -2.44};
for (size_t i = 0; i < has_message->get_PRNs_in_mask(0).size(); i++)
{
EXPECT_FLOAT_EQ(has_message->get_code_bias_m()[i][0], code_bias_gps_expected[i]);
}
std::vector<float> code_bias_galileo_e1_expected = {-0.08, 0.56, -1.04, 1.04, -1.22, -1.68, 1.3, -0.54, 4.38, 3.04, -0.06, -2.14, 1.16, -0.74, 1.34,
-1.22, -2.02, -0.7, -0.58, -1.6, 1.12, -1.98};
std::vector<float> code_bias_galileo_e5a_expected = {-0.12, 0.8, -1.76, 1.80, -2.04, -2.9, 2.18, -0.94, 7.6, 5.64, -0.2, -3.7, 1.96, -1.28, 2.18,
-2.08, -3.44, -1.20, -1.04, -2.72, 1.92, -3.36};
std::vector<float> code_bias_galileo_e5b_expected = {-0.12, 0.94, -1.76, 1.78, -2.06, -2.88, 2.22, -0.92, 7.46, 5.20, -0.12, -3.64, 1.96, -1.26, 2.28,
-2.06, -3.46, -1.20, -0.98, -2.7, 1.9, -3.38};
std::vector<float> code_bias_galileo_e6c_expected = {-1.04, -0.16, -0.94, 0.96, -0.28, -1.42, -0.58, -0.86, 7.18, 5.72, -1.26, -2.48, 1.4, -2.00, 1.10,
-0.66, -2.72, -2.0, -0.22, -0.58, 0.58, -2.26};
for (size_t i = 0; i < has_message->get_PRNs_in_mask(1).size(); i++)
{
EXPECT_FLOAT_EQ(has_message->get_code_bias_m()[has_message->get_PRNs_in_mask(0).size() + i][0], code_bias_galileo_e1_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_code_bias_m()[has_message->get_PRNs_in_mask(0).size() + i][1], code_bias_galileo_e5a_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_code_bias_m()[has_message->get_PRNs_in_mask(0).size() + i][2], code_bias_galileo_e5b_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_code_bias_m()[has_message->get_PRNs_in_mask(0).size() + i][3], code_bias_galileo_e6c_expected[i]);
}
std::vector<float> phase_bias_gps_expected(has_message->get_PRNs_in_mask(0).size(), -10.24);
std::vector<float> phase_bias_galileo_e1_expected(has_message->get_PRNs_in_mask(1).size(), -10.24);
std::vector<float> phase_bias_galileo_e5a_expected(has_message->get_PRNs_in_mask(1).size(), -10.24);
std::vector<float> phase_bias_galileo_e5b_expected(has_message->get_PRNs_in_mask(1).size(), -10.24);
std::vector<float> phase_bias_galileo_e6c_expected(has_message->get_PRNs_in_mask(1).size(), -10.24);
std::vector<uint8_t> phase_discontinuity_indicator_expected_gps(has_message->get_PRNs_in_mask(0).size(), 0);
std::vector<uint8_t> phase_discontinuity_indicator_expected_gal(has_message->get_PRNs_in_mask(1).size(), 0);
for (size_t i = 0; i < has_message->get_PRNs_in_mask(0).size(); i++)
{
EXPECT_FLOAT_EQ(has_message->get_phase_bias_cycle()[i][0], phase_bias_gps_expected[i]);
EXPECT_EQ(has_message->phase_discontinuity_indicator[i][0], phase_discontinuity_indicator_expected_gps[i]);
}
for (size_t i = 0; i < has_message->get_PRNs_in_mask(1).size(); i++)
{
EXPECT_FLOAT_EQ(has_message->get_phase_bias_cycle()[has_message->get_PRNs_in_mask(0).size() + i][0], phase_bias_galileo_e1_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_phase_bias_cycle()[has_message->get_PRNs_in_mask(0).size() + i][1], phase_bias_galileo_e5a_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_phase_bias_cycle()[has_message->get_PRNs_in_mask(0).size() + i][2], phase_bias_galileo_e5b_expected[i]);
EXPECT_FLOAT_EQ(has_message->get_phase_bias_cycle()[has_message->get_PRNs_in_mask(0).size() + i][3], phase_bias_galileo_e6c_expected[i]);
EXPECT_EQ(has_message->phase_discontinuity_indicator[has_message->get_PRNs_in_mask(0).size() + i][0], phase_discontinuity_indicator_expected_gal[i]);
EXPECT_EQ(has_message->phase_discontinuity_indicator[has_message->get_PRNs_in_mask(0).size() + i][1], phase_discontinuity_indicator_expected_gal[i]);
EXPECT_EQ(has_message->phase_discontinuity_indicator[has_message->get_PRNs_in_mask(0).size() + i][2], phase_discontinuity_indicator_expected_gal[i]);
EXPECT_EQ(has_message->phase_discontinuity_indicator[has_message->get_PRNs_in_mask(0).size() + i][3], phase_discontinuity_indicator_expected_gal[i]);
}
}
else
{
has_simple_printer->print_message(has_message.get());
}
}
}
}
}