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Add utilities to galileo_has_data class, improve HAS message printer

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This commit is contained in:
Carles Fernandez
2021-09-23 09:22:45 +02:00
parent e0604bdf22
commit a42c66ec29
5 changed files with 451 additions and 7 deletions
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60
src/algorithms/PVT/libs/has_simple_printer.cc
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@@ -166,7 +166,7 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
d_has_file << "Do not use HAS\n"; d_has_file << "Do not use HAS\n";
break; break;
default: default:
d_has_file << '\n'; d_has_file << "Unknown\n";
} }
d_has_file << "HAS message ID: " << static_cast<float>(has_data->message_id) << "\n\n"; d_has_file << "HAS message ID: " << static_cast<float>(has_data->message_id) << "\n\n";
@@ -198,8 +198,39 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
Nsat += std::count(sat_mask.begin(), sat_mask.end(), '1'); Nsat += std::count(sat_mask.begin(), sat_mask.end(), '1');
} }
d_has_file << indent << indent << "Satellite Mask: " << print_vector_binary(has_data->satellite_mask, HAS_MSG_SATELLITE_MASK_LENGTH) << " (Nsat = " << Nsat << ")\n"; d_has_file << indent << indent << "Satellite Mask: " << print_vector_binary(has_data->satellite_mask, HAS_MSG_SATELLITE_MASK_LENGTH) << '\n';
d_has_file << indent << indent << "Signal Mask: " << print_vector_binary(has_data->signal_mask, HAS_MSG_SIGNAL_MASK_LENGTH) << " (see Signal Mask table in HAS-SIS-ICD)\n"; d_has_file << indent << indent << " Nsat: " << Nsat << '\n';
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
std::string system("Reserved");
if (has_data->gnss_id_mask[i] == 0)
{
system = "GPS";
}
if (has_data->gnss_id_mask[i] == 2)
{
system = "Galileo";
}
d_has_file << indent << indent << " PRN for " << system << ": " << print_vector(has_data->get_PRNs_in_mask(i)) << " (" << has_data->get_PRNs_in_mask(i).size() << " satellites)\n";
}
d_has_file << indent << indent << "Signal Mask: " << print_vector_binary(has_data->signal_mask, HAS_MSG_SIGNAL_MASK_LENGTH) << '\n';
for (uint8_t i = 0; i < has_data->Nsys; i++)
{
std::string system("Reserved");
if (has_data->gnss_id_mask[i] == 0)
{
system = "GPS";
}
if (has_data->gnss_id_mask[i] == 2)
{
system = "Galileo";
}
d_has_file << indent << indent << " Bias corrections for " << system << " signals: " << print_vector_string(has_data->get_signals_in_mask(i)) << '\n';
}
d_has_file << indent << indent << "Cell Mask Availability Flag: " << print_vector(has_data->cell_mask_availability_flag) << '\n'; d_has_file << indent << indent << "Cell Mask Availability Flag: " << print_vector(has_data->cell_mask_availability_flag) << '\n';
for (uint8_t i = 0; i < has_data->Nsys; i++) for (uint8_t i = 0; i < has_data->Nsys; i++)
{ {
@@ -271,7 +302,8 @@ bool Has_Simple_Printer::print_message(const Galileo_HAS_data* const has_data)
Nsatprime += std::count(binary.begin(), binary.end(), '1'); Nsatprime += std::count(binary.begin(), binary.end(), '1');
} }
} }
d_has_file << " (Nsat in subset = " << Nsatprime << ")\n"; d_has_file << '\n';
d_has_file << " Nsat in subset = " << Nsatprime << '\n';
const std::string text("Delta Clock C0 [m]: "); const std::string text("Delta Clock C0 [m]: ");
const std::string filler(indent.length() * 2 + text.length(), ' '); 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_c0_clock_subset, filler, HAS_MSG_DELTA_CLOCK_SCALE_FACTOR);
@@ -393,6 +425,26 @@ std::string Has_Simple_Printer::print_matrix(const std::vector<std::vector<T>>&
} }
std::string Has_Simple_Printer::print_vector_string(const std::vector<std::string>& vec) const
{
std::string msg;
bool first = true;
for (auto el : vec)
{
if (first == true)
{
msg += el;
first = false;
}
else
{
msg += " " + el;
}
}
return msg;
}
bool Has_Simple_Printer::close_file() bool Has_Simple_Printer::close_file()
{ {
if (d_has_file.is_open()) if (d_has_file.is_open())

2
src/algorithms/PVT/libs/has_simple_printer.h
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@@ -51,6 +51,8 @@ private:
template <class T> template <class T>
std::string print_matrix(const std::vector<std::vector<T>>& mat, const std::string& filler, float scale_factor = 1) const; std::string print_matrix(const std::vector<std::vector<T>>& mat, const std::string& filler, float scale_factor = 1) const;
std::string print_vector_string(const std::vector<std::string>& vec) const;
bool close_file(); bool close_file();
std::mutex d_mutex; std::mutex d_mutex;

1
src/core/system_parameters/CMakeLists.txt
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@@ -16,6 +16,7 @@ set(SYSTEM_PARAMETERS_SOURCES
galileo_almanac_helper.cc galileo_almanac_helper.cc
galileo_cnav_message.cc galileo_cnav_message.cc
galileo_fnav_message.cc galileo_fnav_message.cc
galileo_has_data.cc
galileo_inav_message.cc galileo_inav_message.cc
galileo_reduced_ced.cc galileo_reduced_ced.cc
beidou_dnav_navigation_message.cc beidou_dnav_navigation_message.cc

384
src/core/system_parameters/galileo_has_data.cc Normal file
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@@ -0,0 +1,384 @@
/*!
* \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
*
* -----------------------------------------------------------------------------
*
* 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_has_data.h"
#include "Galileo_CNAV.h"
#include <algorithm>
#include <bitset>
std::vector<int> Galileo_HAS_data::get_PRNs_in_mask(uint8_t nsys) const
{
std::vector<int> prn;
if (nsys < satellite_mask.size())
{
uint64_t sat_mask = satellite_mask[nsys];
std::bitset<HAS_MSG_NUMBER_SATELLITE_IDS> bits(sat_mask);
std::string bit_str = bits.to_string();
for (int32_t i = 0; i < HAS_MSG_NUMBER_SATELLITE_IDS; i++)
{
if (bit_str[i] == '1')
{
prn.push_back(i + 1);
}
}
}
return prn;
}
std::vector<int> Galileo_HAS_data::get_PRNs_in_submask(uint8_t nsys) const
{
std::vector<int> prn;
std::vector<int> prn_in_submask;
if (nsys < satellite_submask.size())
{
auto it = std::find(gnss_id_mask.begin(), gnss_id_mask.end(), gnss_id_clock_subset[nsys]);
int index = 0;
if (it != gnss_id_mask.end())
{
index = it - gnss_id_mask.begin();
}
else
{
return prn_in_submask;
}
uint8_t nsys_index_in_mask = gnss_id_mask[index];
uint64_t sat_mask = satellite_mask[nsys_index_in_mask];
std::bitset<HAS_MSG_NUMBER_SATELLITE_IDS> bits(sat_mask);
std::string mask_bit_str = bits.to_string();
for (int i = 0; i < HAS_MSG_NUMBER_SATELLITE_IDS; i++)
{
if (mask_bit_str[i] == '1')
{
prn.push_back(i + 1);
}
}
int number_sats_this_gnss_id = std::count(mask_bit_str.begin(), mask_bit_str.end(), '1');
uint64_t sat_submask = satellite_submask[nsys];
// convert into string
std::string sat_submask_str("");
uint64_t aux = 1;
for (int k = 0; k < number_sats_this_gnss_id - 1; k++)
{
if ((aux & sat_submask) >= 1)
{
sat_submask_str = "1" + sat_submask_str;
}
else
{
sat_submask_str = "0" + sat_submask_str;
}
aux <<= 1;
}
for (int i = 0; i < number_sats_this_gnss_id; i++)
{
if (sat_submask_str[i] == '1')
{
prn_in_submask.push_back(prn[i]);
}
}
}
return prn_in_submask;
}
std::vector<std::string> Galileo_HAS_data::get_signals_in_mask(uint8_t nsys) const
{
std::vector<std::string> signals_in_mask;
if (signal_mask.size() > nsys)
{
uint16_t sig = signal_mask[nsys];
std::bitset<HAS_MSG_NUMBER_SIGNAL_MASKS> bits(sig);
std::string bits_str = bits.to_string();
for (int32_t k = 0; k < HAS_MSG_NUMBER_SIGNAL_MASKS; k++)
{
if (bits_str[k] == '1')
{
uint8_t system = gnss_id_mask[nsys];
std::string signal;
switch (k)
{
case 0:
if (system == 0)
{
// GPS
signal = "L1 C/A";
}
else if (system == 2)
{
// Galileo
signal = "E1-B I/NAV OS";
}
else
{
signal = "Unknown";
}
break;
case 1:
if (system == 0)
{
// GPS
signal = "Reserved";
}
else if (system == 2)
{
// Galileo
signal = "E1-C";
}
else
{
signal = "Unknown";
}
break;
case 2:
if (system == 0)
{
// GPS
signal = "Reserved";
}
else if (system == 2)
{
// Galileo
signal = "E1-B + E1-C";
}
else
{
signal = "Unknown";
}
break;
case 3:
if (system == 0)
{
// GPS
signal = "L1 L1C(D)";
}
else if (system == 2)
{
// Galileo
signal = "E5a-I F/NAV OS";
}
else
{
signal = "Unknown";
}
break;
case 4:
if (system == 0)
{
// GPS
signal = "L1 L1C(P)";
}
else if (system == 2)
{
// Galileo
signal = "E5a-Q";
}
else
{
signal = "Unknown";
}
break;
case 5:
if (system == 0)
{
// GPS
signal = "L1 L1C(D+P)";
}
else if (system == 2)
{
// Galileo
signal = "E5a-I+E5a-Q";
}
else
{
signal = "Unknown";
}
break;
case 6:
if (system == 0)
{
// GPS
signal = "L2 L2C(M)";
}
else if (system == 2)
{
// Galileo
signal = "E5b-I I/NAV OS";
}
else
{
signal = "Unknown";
}
break;
case 7:
if (system == 0)
{
// GPS
signal = "L2 L2C(L)";
}
else if (system == 2)
{
// Galileo
signal = "E5b-Q";
}
else
{
signal = "Unknown";
}
break;
case 8:
if (system == 0)
{
// GPS
signal = "L2 L2C(M+L)";
}
else if (system == 2)
{
// Galileo
signal = "E5b-I+E5b-Q";
}
else
{
signal = "Unknown";
}
break;
case 9:
if (system == 0)
{
// GPS
signal = "L2 P";
}
else if (system == 2)
{
// Galileo
signal = "E5-I";
}
else
{
signal = "Unknown";
}
break;
case 10:
if (system == 0)
{
// GPS
signal = "Reserved";
}
else if (system == 2)
{
// Galileo
signal = "E5-Q";
}
else
{
signal = "Unknown";
}
break;
case 11:
if (system == 0)
{
// GPS
signal = "L5 I";
}
else if (system == 2)
{
// Galileo
signal = "E5-I + E5-Q";
}
else
{
signal = "Unknown";
}
break;
case 12:
if (system == 0)
{
// GPS
signal = "L5 Q";
}
else if (system == 2)
{
// Galileo
signal = "E6-B C/NAV HAS";
}
else
{
signal = "Unknown";
}
break;
case 13:
if (system == 0)
{
// GPS
signal = "L5 I + L5 Q";
}
else if (system == 2)
{
// Galileo
signal = "E6-C";
}
else
{
signal = "Unknown";
}
break;
case 14:
if (system == 0)
{
// GPS
signal = "Reserved";
}
else if (system == 2)
{
// Galileo
signal = "E6-B + E6-C";
}
else
{
signal = "Unknown";
}
break;
case 15:
if (system == 0)
{
// GPS
signal = "Reserved";
}
else if (system == 2)
{
// Galileo
signal = "Reserved";
}
else
{
signal = "Unknown";
}
break;
default:
signal = "Unknown";
}
signals_in_mask.push_back(signal);
}
}
}
return signals_in_mask;
}

11
src/core/system_parameters/galileo_has_data.h
View File

@@ -1,14 +1,14 @@
/*! /*!
* \file galileo_has_data.h * \file galileo_has_data.h
* \brief Class for Galileo HAS message type 1 data storage * \brief Class for Galileo HAS message type 1 data storage
* \author Carles Fernandez-Prades, 2020 cfernandez(at)cttc.es * \author Carles Fernandez-Prades, 2020-2021 cfernandez(at)cttc.es
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
* *
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@@ -19,6 +19,7 @@
#define GNSS_SDR_GALILEO_HAS_DATA_H #define GNSS_SDR_GALILEO_HAS_DATA_H
#include <cstdint> #include <cstdint>
#include <string>
#include <vector> #include <vector>
/** \addtogroup Core /** \addtogroup Core
@@ -50,6 +51,10 @@ class Galileo_HAS_data
public: public:
Galileo_HAS_data() = default; Galileo_HAS_data() = default;
std::vector<int> get_PRNs_in_mask(uint8_t nsys) const;
std::vector<int> get_PRNs_in_submask(uint8_t nsys) const;
std::vector<std::string> get_signals_in_mask(uint8_t nsys) const;
mt1_header header; mt1_header header;
uint8_t has_status; uint8_t has_status;
uint8_t message_id; uint8_t message_id;