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https://github.com/gnss-sdr/gnss-sdr
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This commit is contained in:
Carles Fernandez
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b2045076bd
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c5b3e7597a
@ -615,7 +615,6 @@ bool HybridObservablesTestFpga::acquire_signal()
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int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
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int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);
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for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
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{
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tmp_gnss_synchro.PRN = PRN;
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@ -709,7 +708,6 @@ bool HybridObservablesTestFpga::acquire_signal()
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tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
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tmp_gnss_synchro.Acq_samplestamp_samples = tmp_gnss_synchro.Acq_samplestamp_samples; // delay due to the downsampling filter in the acquisition
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gnss_synchro_vec.push_back(tmp_gnss_synchro);
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}
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else
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@ -717,10 +715,7 @@ bool HybridObservablesTestFpga::acquire_signal()
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std::cout << " . ";
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}
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top_block->stop();
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std::cout.flush();
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}
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std::cout << "]" << std::endl;
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@ -857,6 +852,7 @@ void HybridObservablesTestFpga::configure_receiver(
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std::cout << "*****************************************\n";
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}
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void HybridObservablesTestFpga::check_results_carrier_phase(
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arma::mat& true_ch0,
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arma::vec& true_tow_s,
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@ -1195,6 +1191,7 @@ void HybridObservablesTestFpga::check_results_carrier_doppler(
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ASSERT_LT(rmse_ch0, 30);
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}
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bool HybridObservablesTestFpga::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
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{
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try
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@ -1230,6 +1227,7 @@ bool HybridObservablesTestFpga::save_mat_xy(std::vector<double>& x, std::vector<
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}
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}
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void HybridObservablesTestFpga::check_results_code_pseudorange(
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arma::mat& true_ch0,
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arma::mat& true_ch1,
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@ -1319,6 +1317,7 @@ void HybridObservablesTestFpga::check_results_code_pseudorange(
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ASSERT_GT(min_error, -10.0);
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}
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bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss)
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{
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// Open and read reference RINEX observables file
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@ -1459,6 +1458,8 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
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}
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return true;
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}
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TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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{
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// pointer to the DMA thread that sends the samples to the acquisition engine
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@ -1475,7 +1476,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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generate_signal();
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}
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std::chrono::time_point<std::chrono::system_clock> start, end;
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std::chrono::duration<double> elapsed_seconds(0);
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@ -1556,7 +1556,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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}
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}
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// The HW has been reset after the acquisition phase when the acquisition class was destroyed.
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// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
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// GPS L1 / Galileo E1 filter has been cleared.
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@ -1567,7 +1566,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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// instantiate the acquisition modules in order to use them to reset the HW.
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// (note that the constructor of the acquisition modules resets the HW too)
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std::shared_ptr<AcquisitionInterface> acquisition;
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// reset the HW to clear the sample counters: the acquisition constructor generates a reset
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@ -1597,7 +1595,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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throw(std::exception());
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}
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std::vector<std::shared_ptr<TrackingInterface>> tracking_ch_vec;
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std::vector<std::shared_ptr<TelemetryDecoderInterface>> tlm_ch_vec;
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@ -1608,7 +1605,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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gnss_synchro_vec.at(n).Channel_ID = n;
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// create the tracking channels and create the telemetry decoders
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std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", config->property("Tracking.implementation", std::string("undefined")), 1, 1);
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tracking_ch_vec.push_back(std::dynamic_pointer_cast<TrackingInterface>(trk_));
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std::shared_ptr<GNSSBlockInterface> tlm_ = factory->GetBlock(config, "TelemetryDecoder", config->property("TelemetryDecoder.implementation", std::string("undefined")), 1, 1);
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@ -1673,7 +1669,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
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ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
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for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
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{
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//top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch_vec.at(n)->get_left_block(), 0);
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@ -1687,10 +1682,8 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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top_block->connect(ch_out_fpga_sample_counter, 0, observables->get_left_block(), tracking_ch_vec.size()); //extra port for the sample counter pulse
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}) << "Failure connecting the blocks.";
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args.file = file;
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args.nsamples_tx = baseband_sampling_freq * FLAGS_duration;
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;
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args.skip_used_samples = 0;
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@ -1699,7 +1692,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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std::cout << "ERROR cannot create DMA Process" << std::endl;
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}
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for (auto& n : tracking_ch_vec)
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{
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n->start_tracking();
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@ -1709,10 +1701,8 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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send_samples_start_obs_test = 1;
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pthread_mutex_unlock(&mutex_obs_test);
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top_block->start();
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EXPECT_NO_THROW({
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start = std::chrono::system_clock::now();
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//top_block->run(); // Start threads and wait
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@ -1720,23 +1710,18 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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elapsed_seconds = end - start;
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}) << "Failure running the top_block.";
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// wait for the child DMA process to finish
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pthread_join(thread_DMA, nullptr);
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top_block->stop();
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// reset the HW AGAIN
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acquisition->stop_acquisition();
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// pthread_mutex_lock(&mutex_obs_test);
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// send_samples_start_obs_test = 0;
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// pthread_mutex_unlock(&mutex_obs_test);
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// check results
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// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
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std::vector<arma::mat> true_obs_vec;
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@ -1789,7 +1774,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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<< "Failure reading RINEX file";
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}
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// read measured values
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Observables_Dump_Reader estimated_observables(tracking_ch_vec.size());
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ASSERT_NO_THROW({
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@ -1828,7 +1812,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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}
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}
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// Cut measurement tail zeros
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arma::uvec index;
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for (auto& n : measured_obs_vec)
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@ -1859,7 +1842,6 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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}
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}
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// Correct the clock error using true values (it is not possible for a receiver to correct
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// the receiver clock offset error at the observables level because it is required the
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// decoding of the ephemeris data and solve the PVT equations)
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@ -1969,6 +1951,5 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
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}
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}
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std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
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}
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