diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md index ac5a78d20..23328ce24 100644 --- a/docs/CHANGELOG.md +++ b/docs/CHANGELOG.md @@ -56,6 +56,10 @@ All notable changes to GNSS-SDR will be documented in this file. ### Improvements in Reliability: - Fixed some potential buffer overflows. +- Avoid source code lines longer than 512 characters. This was a warning raised + by Lintian (very-long-line-length-in-source-file). Long lines in source code + could be used to obfuscate the source code and to hide stuff like backdoors or + security problems. ### Improvements in Usability: diff --git a/src/algorithms/PVT/libs/has_simple_printer.cc b/src/algorithms/PVT/libs/has_simple_printer.cc index 4665e7454..cf526a2a2 100644 --- a/src/algorithms/PVT/libs/has_simple_printer.cc +++ b/src/algorithms/PVT/libs/has_simple_printer.cc @@ -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(has_data->header.code_bias_flag) << '\n'; d_has_file << indent << indent << "Phase Bias Flag: " << static_cast(has_data->header.phase_bias_flag) << '\n'; d_has_file << indent << indent << "Mask ID: " << static_cast(has_data->header.mask_id) << '\n'; - d_has_file << indent << indent << "IOD Set ID: " << static_cast(has_data->header.iod_id) << "\n\n"; + d_has_file << indent << indent << "IOD Set ID: " << static_cast(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(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'; } diff --git a/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc b/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc index 1802324c5..0e7a5afca 100644 --- a/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc +++ b/src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc @@ -59,6 +59,12 @@ Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(const std::string &device shift_out_bits_band1 = shift_out_bits_default; shift_out_bits_band2 = shift_out_bits_default; + // init bit selection corresopnding to frequency band 1 + d_map_base1[0] = shift_out_bits_band1; + + // init bit selection corresponding to frequency band 2 + d_map_base2[0] = shift_out_bits_band2; + DLOG(INFO) << "Dynamic bit selection FPGA class created"; } diff --git a/src/core/libs/galileo_e6_has_msg_receiver.cc b/src/core/libs/galileo_e6_has_msg_receiver.cc index 62407724a..8fae7611e 100644 --- a/src/core/libs/galileo_e6_has_msg_receiver.cc +++ b/src/core/libs/galileo_e6_has_msg_receiver.cc @@ -103,6 +103,47 @@ void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable) } +std::shared_ptr galileo_e6_has_msg_receiver::process_test_page(const pmt::pmt_t& msg) +{ + try + { + const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code(); + if (msg_type_hash_code == typeid(std::shared_ptr).hash_code()) + { + const auto HAS_data_page = wht::any_cast>(pmt::any_ref(msg)); + DLOG(INFO) << "New HAS page received: " + << "Status: " << static_cast(HAS_data_page->has_status) << ", " + << "MT: " << static_cast(HAS_data_page->message_type) << ", " + << "MID: " << static_cast(HAS_data_page->message_id) << ", " + << "MS: " << static_cast(HAS_data_page->message_size) << ", " + << "PID: " << static_cast(HAS_data_page->message_page_id); + d_current_has_status = HAS_data_page->has_status; + d_current_message_id = HAS_data_page->message_id; + 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(d_HAS_data); + d_new_message = false; + 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 @@ -184,12 +225,12 @@ 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'; } } } @@ -338,36 +379,36 @@ 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 + // ICD v1.4 Table 7: MT1 Message Header const std::bitset 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(d_HAS_data.header.toh) << ", " - << "mask ID: " << static_cast(d_HAS_data.header.mask_id) << ", " - << "iod ID: " << static_cast(d_HAS_data.header.iod_id) << ", " << "mask_flag: " << static_cast(d_HAS_data.header.mask_flag) << ", " << "orbit_correction_flag: " << static_cast(d_HAS_data.header.orbit_correction_flag) << ", " << "clock_fullset_flag: " << static_cast(d_HAS_data.header.clock_fullset_flag) << ", " << "clock_subset_flag: " << static_cast(d_HAS_data.header.clock_subset_flag) << ", " << "code_bias_flag: " << static_cast(d_HAS_data.header.code_bias_flag) << ", " << "phase_bias_flag: " << static_cast(d_HAS_data.header.phase_bias_flag) << ", " - << "ura_flag: " << static_cast(d_HAS_data.header.ura_flag); + << "reserved: " << static_cast(d_HAS_data.header.reserved) << ", " + << "mask ID: " << static_cast(d_HAS_data.header.mask_id) << ", " + << "iod ID: " << static_cast(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. + // ICD v1.4 Table 8: MT1 Message Body. auto message = std::string(message_body); int Nsat = 0; bool have_mask = false; @@ -489,7 +530,7 @@ 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(Nsat); d_HAS_data.delta_radial = std::vector(Nsat); - d_HAS_data.delta_along_track = std::vector(Nsat); + d_HAS_data.delta_in_track = std::vector(Nsat); d_HAS_data.delta_cross_track = std::vector(Nsat); for (int i = 0; i < Nsat; i++) { @@ -520,8 +561,8 @@ 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 +571,7 @@ 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); } @@ -547,12 +588,9 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body) message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH, message.end()); } - d_HAS_data.iod_change_flag = std::vector(Nsat); d_HAS_data.delta_clock_c0 = std::vector(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()); } @@ -580,7 +618,6 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body) d_HAS_data.gnss_id_clock_subset = std::vector(d_HAS_data.Nsysprime); d_HAS_data.delta_clock_c0_multiplier_clock_subset = std::vector(d_HAS_data.Nsysprime); d_HAS_data.satellite_submask = std::vector(d_HAS_data.Nsysprime); - d_HAS_data.iod_change_flag_clock_subset = std::vector>(d_HAS_data.Nsysprime, std::vector()); d_HAS_data.delta_clock_c0_clock_subset = std::vector>(d_HAS_data.Nsysprime, std::vector()); for (uint8_t i = 0; i < d_HAS_data.Nsysprime; i++) @@ -785,19 +822,6 @@ 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(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()); - // } - // } } diff --git a/src/core/libs/galileo_e6_has_msg_receiver.h b/src/core/libs/galileo_e6_has_msg_receiver.h index dd26b1e34..da90593c6 100644 --- a/src/core/libs/galileo_e6_has_msg_receiver.h +++ b/src/core/libs/galileo_e6_has_msg_receiver.h @@ -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 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(); diff --git a/src/core/system_parameters/Galileo_CNAV.h b/src/core/system_parameters/Galileo_CNAV.h index 5a3ca8a31..da79aa883 100644 --- a/src/core/system_parameters/Galileo_CNAV.h +++ b/src/core/system_parameters/Galileo_CNAV.h @@ -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 E6-B Signal-In-Space Message Specification v1.4 + * (February 2021). + * \author Carles Fernandez-Prades, 2020-2021. cfernandez(at)cttc.es * * * ----------------------------------------------------------------------------- @@ -61,11 +61,11 @@ 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_RADIAL_LENGTH = 13; +constexpr size_t HAS_MSG_DELTA_IN_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_DELTA_CLOCK_C0_LENGTH = 13; 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; @@ -73,7 +73,6 @@ 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 int32_t HAS_MSG_NUMBER_MASK_IDS = 32; constexpr int32_t HAS_MSG_NUMBER_GNSS_IDS = 16; @@ -82,7 +81,7 @@ constexpr int32_t HAS_MSG_NUMBER_SATELLITE_IDS = 40; constexpr int32_t HAS_MSG_NUMBER_SIGNAL_MASKS = 16; 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_IN_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; @@ -90,8 +89,8 @@ constexpr float HAS_MSG_PHASE_BIAS_SCALE_FACTOR = 0.01; constexpr uint16_t HAS_MSG_NUMBER_MAX_TOH = 3599; -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 uint8_t HAS_MSG_GPS_SYSTEM = 0; // Table 9 ICD v1.4 +constexpr uint8_t HAS_MSG_GALILEO_SYSTEM = 2; // Table 9 ICD v1.4 constexpr uint8_t HAS_MSG_WRONG_SYSTEM = 255; const std::pair GALILEO_HAS_STATUS({1, 2}); @@ -108,9 +107,9 @@ const std::pair GALILEO_MT1_HEADER_CLOCK_FULLSET_FLAG({15, 1}) const std::pair GALILEO_MT1_HEADER_CLOCK_SUBSET_FLAG({16, 1}); const std::pair GALILEO_MT1_HEADER_CODE_BIAS_FLAG({17, 1}); const std::pair GALILEO_MT1_HEADER_PHASE_BIAS_FLAG({18, 1}); -const std::pair GALILEO_MT1_HEADER_URA_FLAG({19, 1}); +const std::pair GALILEO_MT1_HEADER_RESERVED({19, 4}); const std::pair GALILEO_MT1_HEADER_MASK_ID({23, 5}); -const std::pair GALILEO_MT1_HEADER_IOD_ID({28, 5}); +const std::pair GALILEO_MT1_HEADER_IOD_SET_ID({28, 5}); /** \} */ diff --git a/src/core/system_parameters/galileo_has_data.cc b/src/core/system_parameters/galileo_has_data.cc index 5cc8c381b..80d3abbc6 100644 --- a/src/core/system_parameters/galileo_has_data.cc +++ b/src/core/system_parameters/galileo_has_data.cc @@ -503,28 +503,28 @@ std::vector Galileo_HAS_data::get_delta_radial_m(uint8_t nsys) const } -std::vector Galileo_HAS_data::get_delta_along_track_m() const +std::vector Galileo_HAS_data::get_delta_in_track_m() const { - std::vector delta_along_track_m; - delta_along_track_m.reserve(this->delta_along_track.size()); - for (const auto& d : this->delta_along_track) + std::vector 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(d) * HAS_MSG_DELTA_ALONG_TRACK_SCALE_FACTOR); + delta_in_track_m.push_back(static_cast(d) * HAS_MSG_DELTA_IN_TRACK_SCALE_FACTOR); } - return delta_along_track_m; + return delta_in_track_m; } -std::vector Galileo_HAS_data::get_delta_along_track_m(uint8_t nsys) const +std::vector Galileo_HAS_data::get_delta_in_track_m(uint8_t nsys) const { - std::vector delta_along_track_m = this->get_delta_along_track_m(); + std::vector 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 delta_along_track_m_aux; + std::vector 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 +538,12 @@ std::vector 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 +551,7 @@ std::vector Galileo_HAS_data::get_delta_cross_track_m() const { std::vector 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(d) * HAS_MSG_DELTA_CROSS_TRACK_SCALE_FACTOR); } diff --git a/src/core/system_parameters/galileo_has_data.h b/src/core/system_parameters/galileo_has_data.h index 0785efb08..d18b66891 100644 --- a/src/core/system_parameters/galileo_has_data.h +++ b/src/core/system_parameters/galileo_has_data.h @@ -31,14 +31,14 @@ 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; }; /*! @@ -57,10 +57,10 @@ public: std::vector> get_phase_bias_cycle() const; //!< Get Nsat x Nphases phase biases in [cycles] std::vector get_delta_radial_m() const; //!< Get Nsat delta radial corrections in [m] std::vector get_delta_radial_m(uint8_t nsys) const; //!< Get delta radial corrections in [m] for system nsys, with 0 <= nsys < Nsys - std::vector get_delta_along_track_m() const; //!< Get Nsat delta along_track corrections in [m] - std::vector get_delta_along_track_m(uint8_t nsys) const; //!< Get alog-track corrections in [m] for system nsys, with 0 <= nsys < Nsys - std::vector get_delta_cross_track_m() const; //!< Get Nsat delta cross_track corrections in [m] - std::vector 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 get_delta_in_track_m() const; //!< Get Nsat delta in-track corrections in [m] + std::vector 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 get_delta_cross_track_m() const; //!< Get Nsat delta cross-track corrections in [m] + std::vector 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 get_delta_clock_c0_m() const; //!< Get Nsat delta clock C0 corrections in [m] std::vector 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 get_PRNs_in_mask(uint8_t nsys) const; //!< Get PRNs in mask for system nsys, with 0 <= nsys < Nsys @@ -83,19 +83,17 @@ public: // Orbit corrections std::vector gnss_iod; std::vector delta_radial; - std::vector delta_along_track; + std::vector delta_in_track; std::vector delta_cross_track; // Clock full-set corrections std::vector delta_clock_c0_multiplier; - std::vector iod_change_flag; std::vector delta_clock_c0; // Clock subset corrections std::vector gnss_id_clock_subset; std::vector delta_clock_c0_multiplier_clock_subset; std::vector satellite_submask; - std::vector> iod_change_flag_clock_subset; std::vector> delta_clock_c0_clock_subset; // Code bias @@ -105,9 +103,6 @@ public: std::vector> phase_bias; std::vector> phase_discontinuity_indicator; - // URA - std::vector ura; - mt1_header header; uint8_t has_status; uint8_t message_id; @@ -119,7 +114,6 @@ public: 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 }; diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc index cbe4ddce9..6efe155cd 100644 --- a/src/tests/test_main.cc +++ b/src/tests/test_main.cc @@ -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" diff --git a/src/tests/unit-tests/system-parameters/has_decoding_test.cc b/src/tests/unit-tests/system-parameters/has_decoding_test.cc new file mode 100644 index 000000000..60bd5995c --- /dev/null +++ b/src/tests/unit-tests/system-parameters/has_decoding_test.cc @@ -0,0 +1,348 @@ +/*! + * \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 +#include +#include +#include +#include +#include +#include +#include +#include +#include + +DEFINE_string(has_data_test_file, std::string(""), "File containing encoded HAS pages (format: [time sat_id HAS_page_in_hex] in each line)"); + +#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_sptr HasDecoderTester_make(); + +class HasDecoderTester : public gr::block +{ +private: + friend HasDecoderTester_sptr HasDecoderTester_make(); + HasDecoderTester(); + +public: + std::shared_ptr generate_has_page(const std::string& page); + ~HasDecoderTester(); //!< Default destructor +}; + + +HasDecoderTester_sptr HasDecoderTester_make() +{ + return HasDecoderTester_sptr(new HasDecoderTester()); +} + + +std::shared_ptr HasDecoderTester::generate_has_page(const std::string& page) +{ + auto gh = std::make_shared(); + + 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); + } + + 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 get_pages() const + { + return page; + }; + + std::vector get_sats() const + { + return sat; + }; + + std::vector 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"}; + 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 rx_time; + std::vector sat; + std::vector 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)); + galileo_e6_has_msg_receiver_sptr gal_e6_has_rx_; + gal_e6_has_rx_ = galileo_e6_has_msg_receiver_make(); + HasDecoderTester_sptr has_tester; + has_tester = HasDecoderTester_make(); + std::unique_ptr has_simple_printer; + + auto pages = read_pages.get_pages(); + bool known_data = read_pages.is_known_data(); + if (!known_data) + { + has_simple_printer = std::make_unique(); + } + for (size_t p = 0; p < read_pages.get_number_pages(); p++) + { + auto has_page = has_tester->generate_has_page(pages[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 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 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 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 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 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 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 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 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 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 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 phase_bias_gps_expected(has_message->get_PRNs_in_mask(0).size(), -10.24); + std::vector phase_bias_galileo_e1_expected(has_message->get_PRNs_in_mask(1).size(), -10.24); + std::vector phase_bias_galileo_e5a_expected(has_message->get_PRNs_in_mask(1).size(), -10.24); + std::vector phase_bias_galileo_e5b_expected(has_message->get_PRNs_in_mask(1).size(), -10.24); + std::vector phase_bias_galileo_e6c_expected(has_message->get_PRNs_in_mask(1).size(), -10.24); + std::vector phase_discontinuity_indicator_expected_gps(has_message->get_PRNs_in_mask(0).size(), 0); + std::vector 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()); + } + } + } + } +}