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Updates to get tests passing [acq refactor]

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This commit is contained in:
Cillian O'Driscoll 2019-11-05 14:15:47 +00:00
parent 6a969b1ea3
commit a1fe98f833
8 changed files with 80 additions and 73 deletions
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10
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
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@ -29,10 +29,10 @@
* -------------------------------------------------------------------------
*/
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "Galileo_E1.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
@ -50,13 +50,15 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
{
configuration_ = configuration;
acq_parameters_.ms_per_code = 4;
acq_parameters_.SetFromConfiguration( configuration_, role, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_OPT_ACQ_FS_SPS );
acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_OPT_ACQ_FS_SPS);
DLOG(INFO) << "role " << role;
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS )));
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
@ -76,7 +78,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_step_ = acq_parameters_.doppler_step;
doppler_center_ = 0;
gnss_synchro_ = nullptr;

4
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
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@ -31,10 +31,10 @@
* -------------------------------------------------------------------------
*/
#include "glonass_l1_ca_pcps_acquisition.h"
#include "GLONASS_L1_L2_CA.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "glonass_l1_ca_pcps_acquisition.h"
#include "glonass_l1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
@ -113,6 +113,8 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters.pfa = configuration_->property(role + ".pfa", 0.0);
acq_parameters.pfa2 = configuration_->property(role + ".pfa2", 0.0);
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";

92
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
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@ -33,12 +33,12 @@
* -------------------------------------------------------------------------
*/
#include "pcps_acquisition.h"
#include "GLONASS_L1_L2_CA.h" // for GLONASS_TWO_PI
#include "GPS_L1_CA.h" // for GPS_TWO_PI
#include "gnss_frequencies.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
@ -131,10 +131,10 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
// We can avoid this by doing linear correlation, effectively doubling the
// size of the input buffer and padding the code with zeros.
//if (acq_parameters.bit_transition_flag)
//{
//d_fft_size = d_consumed_samples * 2;
//acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
//}
//{
//d_fft_size = d_consumed_samples * 2;
//acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
//}
d_tmp_buffer = volk_gnsssdr::vector<float>(d_fft_size);
d_fft_codes = volk_gnsssdr::vector<std::complex<float>>(d_fft_size);
@ -162,13 +162,13 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_buffer_count = 0U;
// todo: CFAR statistic not available for non-coherent integration
//if (acq_parameters.max_dwells == 1)
//{
d_use_CFAR_algorithm_flag = acq_parameters.use_CFAR_algorithm_flag;
//}
//{
d_use_CFAR_algorithm_flag = acq_parameters.use_CFAR_algorithm_flag;
//}
//else
//{
//d_use_CFAR_algorithm_flag = false;
//}
//{
//d_use_CFAR_algorithm_flag = false;
//}
d_dump_number = 0LL;
d_dump_channel = acq_parameters.dump_channel;
d_dump = acq_parameters.dump;
@ -383,15 +383,15 @@ void pcps_acquisition::send_positive_acquisition()
// Declare positive acquisition using a message port
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
LOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
d_positive_acq = 1;
if (!d_channel_fsm.expired())
@ -411,14 +411,14 @@ void pcps_acquisition::send_negative_acquisition()
// Declare negative acquisition using a message port
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
LOG(INFO) << "negative acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
d_positive_acq = 0;
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
}
@ -534,8 +534,6 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
uint32_t tmp_intex_t = 0U;
uint32_t index_time = 0U;
int32_t effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
float fft_normalization_factor = static_cast<float>(effective_fft_size) * static_cast<float>(d_fft_size);
fft_normalization_factor *= fft_normalization_factor;
// Find the correlation peak and the carrier frequency
for (uint32_t i = 0; i < num_doppler_bins; i++)
@ -551,8 +549,8 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
indext = index_time;
if (!d_step_two)
{
int index_opp = (index_doppler + d_num_doppler_bins/2) % d_num_doppler_bins;
d_input_power = std::accumulate( d_magnitude_grid[index_opp].data(), d_magnitude_grid[index_opp].data()+effective_fft_size, 0.0 )/effective_fft_size/2.0/d_num_noncoherent_integrations_counter;
int index_opp = (index_doppler + d_num_doppler_bins / 2) % d_num_doppler_bins;
d_input_power = std::accumulate(d_magnitude_grid[index_opp].data(), d_magnitude_grid[index_opp].data() + effective_fft_size, 0.0) / effective_fft_size / 2.0 / d_num_noncoherent_integrations_counter;
doppler = -static_cast<int32_t>(doppler_max) + d_doppler_center + doppler_step * static_cast<int32_t>(index_doppler);
}
else
@ -668,12 +666,12 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
lk.unlock();
//if (d_use_CFAR_algorithm_flag or acq_parameters.bit_transition_flag)
//{
//// Compute the input signal power estimation
//volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), in, d_fft_size);
//volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer.data(), d_fft_size);
//d_input_power /= static_cast<float>(d_fft_size);
//}
//{
//// Compute the input signal power estimation
//volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), in, d_fft_size);
//volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer.data(), d_fft_size);
//d_input_power /= static_cast<float>(d_fft_size);
//}
// Doppler frequency grid loop
if (!d_step_two)
@ -841,10 +839,10 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
d_active = false;
bool was_step_two = d_step_two;
d_step_two = false;
if( was_step_two )
{
calculate_threshold();
}
if (was_step_two)
{
calculate_threshold();
}
}
}
else
@ -879,7 +877,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
d_state = 0; // Negative acquisition
bool was_step_two = d_step_two;
d_step_two = false;
if( was_step_two )
if (was_step_two)
calculate_threshold();
send_negative_acquisition();
}
@ -917,17 +915,17 @@ bool pcps_acquisition::start()
void pcps_acquisition::calculate_threshold(void)
{
float pfa = ( d_step_two ? acq_parameters.pfa2 : acq_parameters.pfa );
float pfa = (d_step_two ? acq_parameters.pfa2 : acq_parameters.pfa);
if( pfa <= 0.0 )
if (pfa <= 0.0)
return;
int effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
int num_doppler_bins = ( d_step_two ? d_num_doppler_bins_step2 : d_num_doppler_bins );
int num_doppler_bins = (d_step_two ? d_num_doppler_bins_step2 : d_num_doppler_bins);
int num_bins = effective_fft_size * num_doppler_bins;
d_threshold = 2.0*boost::math::gamma_p_inv( 2*acq_parameters.max_dwells, std::pow( 1.0 - pfa, 1.0/static_cast<double>(num_bins) ) );
d_threshold = 2.0 * boost::math::gamma_p_inv(2 * acq_parameters.max_dwells, std::pow(1.0 - pfa, 1.0 / static_cast<double>(num_bins)));
}
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),

5
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
View File

@ -249,7 +249,8 @@ void GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test::config_1()
std::to_string(integration_time_ms));
config->set_property("Acquisition_1B.max_dwells", "1");
config->set_property("Acquisition_1B.bit_transition_flag", "false");
config->set_property("Acquisition_1B.threshold", "0.1");
//config->set_property("Acquisition_1B.threshold", "0.1");
config->set_property("Acquisition_1B.pfa", "0.0001");
config->set_property("Acquisition_1B.doppler_max", "10000");
config->set_property("Acquisition_1B.doppler_step", "250");
config->set_property("Acquisition_1B.dump", "false");
@ -338,7 +339,7 @@ void GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test::config_2()
std::to_string(integration_time_ms));
config->set_property("Acquisition_1B.max_dwells", "1");
config->set_property("Acquisition_1B.bit_transition_flag", "false");
config->set_property("Acquisition_1B.pfa", "0.1");
config->set_property("Acquisition_1B.pfa", "0.0001");
config->set_property("Acquisition_1B.doppler_max", "10000");
config->set_property("Acquisition_1B.doppler_step", "250");
config->set_property("Acquisition_1B.dump", "false");

5
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
View File

@ -166,7 +166,8 @@ void GalileoE1PcpsAmbiguousAcquisitionGSoCTest::init()
config->set_property("Acquisition_1B.item_type", "gr_complex");
config->set_property("Acquisition_1B.coherent_integration_time_ms", "4");
config->set_property("Acquisition_1B.dump", "false");
config->set_property("Acquisition_1B.threshold", "0.1");
//config->set_property("Acquisition_1B.threshold", "0.1");
config->set_property("Acquisition_1B.pfa", "0.001");
config->set_property("Acquisition_1B.doppler_max", "10000");
config->set_property("Acquisition_1B.doppler_step", "125");
config->set_property("Acquisition_1B.repeat_satellite", "false");
@ -253,7 +254,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoCTest, ValidationOfResults)
top_block = gr::make_top_block("Acquisition test");
init();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisition> acquisition = std::dynamic_pointer_cast<GalileoE1PcpsAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionGSoCTest_msg_rx> msg_rx = GalileoE1PcpsAmbiguousAcquisitionGSoCTest_msg_rx_make(channel_internal_queue);

3
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
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@ -177,7 +177,8 @@ void GalileoE1PcpsAmbiguousAcquisitionTest::init()
config->set_property("Acquisition_1B.dump", "false");
}
config->set_property("Acquisition_1B.dump_filename", "./tmp-acq-gal1/acquisition");
config->set_property("Acquisition_1B.threshold", "0.0001");
//config->set_property("Acquisition_1B.threshold", "0.0001");
config->set_property("Acquisition_1B.pfa", "0.001");
config->set_property("Acquisition_1B.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1B.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_1B.repeat_satellite", "false");

17
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
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@ -254,7 +254,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition.threshold", "0.8");
//config->set_property("Acquisition.threshold", "0.8");
config->set_property("Acquisition.pfa", "0.001");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
@ -343,7 +344,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
// config->set_property("Acquisition.pfa", "0.1");
config->set_property("Acquisition.pfa", "0.001");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
@ -497,9 +498,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
acquisition->set_doppler_step(500);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.05);
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(0.05);
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
@ -585,9 +586,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);

17
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
View File

@ -252,7 +252,8 @@ void GpsL1CaPcpsAcquisitionGSoC2013Test::config_1()
config->set_property("Acquisition_1C.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition_1C.max_dwells", "1");
config->set_property("Acquisition_1C.threshold", "0.8");
//config->set_property("Acquisition_1C.threshold", "0.8");
config->set_property("Acquisition_1C.pfa", "0.001");
config->set_property("Acquisition_1C.doppler_max", "10000");
config->set_property("Acquisition_1C.doppler_step", "250");
config->set_property("Acquisition_1C.bit_transition_flag", "false");
@ -339,7 +340,7 @@ void GpsL1CaPcpsAcquisitionGSoC2013Test::config_2()
config->set_property("Acquisition_1C.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition_1C.max_dwells", "1");
config->set_property("Acquisition_1C.pfa", "0.1");
config->set_property("Acquisition_1C.pfa", "0.001");
config->set_property("Acquisition_1C.doppler_max", "10000");
config->set_property("Acquisition_1C.doppler_step", "250");
config->set_property("Acquisition_1C.bit_transition_flag", "false");
@ -490,9 +491,9 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResults)
acquisition->set_doppler_step(500);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.5);
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(0.5);
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
@ -579,9 +580,9 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResultsProbabilities)
acquisition->set_doppler_step(config->property("Acquisition_1C.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0));
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0));
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);