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Add work on OSNMA receiver

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This commit is contained in:
Carles Fernandez 2023-06-08 16:14:00 +02:00
parent 274857a1a4
commit a7e822166f
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GPG Key ID: 4C583C52B0C3877D
4 changed files with 46 additions and 13 deletions
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47
src/core/libs/osnma_msg_receiver.cc
View File

@ -85,6 +85,14 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
if (msg_type_hash_code == typeid(std::shared_ptr<OSNMA_msg>).hash_code())
{
const auto nma_msg = wht::any_cast<std::shared_ptr<OSNMA_msg>>(pmt::any_ref(msg));
std::cout << "Galileo OSNMA: Subframe received at "
<< "WN="
<< nma_msg->WN_sf0
<< ", TOW="
<< nma_msg->TOW_sf0
<< ", from SVID="
<< nma_msg->PRN
<< std::endl;
process_osnma_message(nma_msg);
}
else
@ -133,6 +141,9 @@ void osnma_msg_receiver::read_dsm_header(uint8_t dsm_header)
d_osnma_data.d_dsm_header.dsm_block_id = d_dsm_reader->get_dsm_block_id(dsm_header); // BID
LOG(WARNING) << "OSNMA: DSM_ID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id);
LOG(WARNING) << "OSNMA: DSM_BID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_block_id);
std::cout << "Galileo OSNMA: Received block " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_block_id)
<< " from DSM_ID " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id)
<< std::endl;
}
@ -144,12 +155,6 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
d_dsm_message[d_osnma_data.d_dsm_header.dsm_id][SIZE_DSM_BLOCKS_BYTES * d_osnma_data.d_dsm_header.dsm_block_id + index] = *it;
index++;
}
std::cout << "dsm_message:";
for (auto c : d_dsm_message[d_osnma_data.d_dsm_header.dsm_id])
{
std::cout << " " << static_cast<uint32_t>(c);
}
std::cout << std::endl;
if (d_osnma_data.d_dsm_header.dsm_block_id == 0)
{
// Get number of blocks in message
@ -187,6 +192,20 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
// Annotate bid
d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id][d_osnma_data.d_dsm_header.dsm_block_id] = 1;
std::cout << "Galileo OSNMA: Available blocks for DSM_ID " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id) << ": [ ";
for (auto id_received : d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id])
{
if (id_received == 0)
{
std::cout << "- ";
}
else
{
std::cout << "X ";
}
}
std::cout << "]" << std::endl;
// is message complete? -> Process DSM message
if ((d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] != 0) &&
(d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] == std::accumulate(d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id].cbegin(), d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id].cend(), 0)))
@ -201,12 +220,12 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
}
d_dsm_message[d_osnma_data.d_dsm_header.dsm_id] = std::array<uint8_t, 256>{};
d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id] = std::array<uint8_t, 16>{};
process_dsm_message(dsm_msg, osnma_msg->hkroot[0]);
process_dsm_message(dsm_msg, osnma_msg);
}
}
void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg, uint8_t nma_header)
void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg, const std::shared_ptr<OSNMA_msg>& osnma_msg)
{
if (d_osnma_data.d_dsm_header.dsm_id < 12)
{
@ -254,7 +273,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
const uint16_t check_l_dk = 104 * std::ceil(1.0 + static_cast<float>((l_lk_bytes * 8.0) + l_ds_bits) / 104.0);
if (l_dk_bits != check_l_dk)
{
std::cout << "OSNMA: Failed length reading" << std::endl;
std::cout << "Galileo OSNMA: Failed length reading" << std::endl;
}
else
{
@ -262,7 +281,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
const uint16_t size_m = 13 + l_lk_bytes;
std::vector<uint8_t> MSG;
MSG.reserve(size_m + l_ds_bytes + 1);
MSG.push_back(nma_header);
MSG.push_back(osnma_msg->hkroot[0]);
for (uint16_t i = 1; i < size_m; i++)
{
MSG.push_back(dsm_msg[i]);
@ -297,7 +316,11 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
if (d_osnma_data.d_dsm_kroot_message.p_dk == p_dk_truncated)
{
LOG(WARNING) << "OSNMA: DSM-KROOT message received ok.";
std::cout << "OSNMA: DSM-KROOT message validated" << std::endl;
std::cout << "Galileo OSNMA: KROOT with CID=" << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid)
<< ", PKID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.pkid)
<< ", WN=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.wn_k)
<< ", TOW=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.towh_k)
<< " validated" << std::endl;
}
// Validate signature
}
@ -342,7 +365,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
uint32_t check_l_dp = 104 * std::ceil(static_cast<float>(1040.0 + l_npk * 8.0) / 104.0);
if (l_dp != check_l_dp)
{
std::cout << "OSNMA: Failed length reading" << std::endl;
std::cout << "Galileo OSNMA: Failed length reading" << std::endl;
}
else
{

2
src/core/libs/osnma_msg_receiver.h
View File

@ -64,7 +64,7 @@ private:
void read_dsm_header(uint8_t dsm_header);
void read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_msg);
void read_mack_block(const std::shared_ptr<OSNMA_msg>& osnma_msg);
void process_dsm_message(const std::vector<uint8_t>& dsm_msg, uint8_t nma_header);
void process_dsm_message(const std::vector<uint8_t>& dsm_msg, const std::shared_ptr<OSNMA_msg>& osnma_msg);
void read_mack_header();
void read_mack_info_and_tags();

8
src/core/system_parameters/galileo_inav_message.cc
View File

@ -1422,6 +1422,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
OSNMA_msg Galileo_Inav_Message::get_osnma_msg()
{
nma_position_filled = std::array<int8_t, 15>{};
// Fill TOW and WN
nma_msg.WN_sf0 = WN_0;
int32_t TOW_sf0 = TOW_5 - 24;
if (TOW_sf0 < 0)
{
TOW_sf0 += 604800;
}
nma_msg.TOW_sf0 = static_cast<uint32_t>(TOW_sf0);
return nma_msg;
}

2
src/core/system_parameters/galileo_inav_message.h
View File

@ -47,6 +47,8 @@ public:
std::array<uint32_t, 15> mack{};
std::array<uint8_t, 15> hkroot{};
uint32_t PRN{};
uint32_t WN_sf0{};
uint32_t TOW_sf0{};
};
/*!