mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-10-02 17:00:50 +00:00
Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
c7215034c9
@ -471,7 +471,7 @@ void *rtksvrthread(void *arg)
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q = svr->buff[i] + svr->buffsize;
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/* read receiver raw/rtcm data from input stream */
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if ((n = strread(svr->stream + i, p, q - p)) <= 0)
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if ((n = strread(svr->stream + i, p, static_cast<int>(q[0]) - static_cast<int>(p[0]))) <= 0)
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{
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continue;
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}
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@ -120,8 +120,8 @@ serial_t *openserial(const char *path, int mode, char *msg)
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std::string s_aux = "/dev/" + std::string(port);
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s_aux.resize(128, '\0');
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int n = s_aux.length();
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if (n < 128)
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for (int i = 0; i < n; i++) dev[i] = s_aux[i];
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for (int i = 0; i < n; i++) dev[i] = s_aux[i];
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if (n == 0) dev[0] = '\0';
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if ((mode & STR_MODE_R) && (mode & STR_MODE_W))
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rw = O_RDWR;
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@ -1493,7 +1493,7 @@ void decodeftppath(const char *path, char *addr, char *file, char *user,
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*q = '\0';
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if (passwd) strcpy(passwd, q + 1);
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}
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*q = '\0';
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if (*q != 0) *q = '\0';
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if (user) strcpy(user, buff);
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}
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else
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@ -36,6 +36,7 @@
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include <glog/logging.h>
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#include <exception>
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#include <iostream> // for cout, endl
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#ifdef __APPLE__
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@ -122,7 +123,14 @@ Ad9361FpgaSignalSource::~Ad9361FpgaSignalSource()
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if (enable_dds_lo_)
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{
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ad9361_disable_lo_local();
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try
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{
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ad9361_disable_lo_local();
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}
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catch (const std::exception& e)
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{
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LOW(WARNING) << "Problem closing the Ad9361FpgaSignalSource: " << e.what();
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}
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}
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// std::cout<<"* AD9361 Destroying context\n";
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@ -132,12 +140,18 @@ Ad9361FpgaSignalSource::~Ad9361FpgaSignalSource()
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void Ad9361FpgaSignalSource::connect(gr::top_block_sptr top_block)
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{
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if (top_block)
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{ /* top_block is not null */
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};
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DLOG(INFO) << "AD9361 FPGA source nothing to connect";
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}
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void Ad9361FpgaSignalSource::disconnect(gr::top_block_sptr top_block)
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{
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if (top_block)
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{ /* top_block is not null */
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};
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DLOG(INFO) << "AD9361 FPGA source nothing to disconnect";
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}
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@ -1,6 +1,6 @@
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/*!
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* \filei fmcomms2_signal_source.cc
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* \brief signal source for sdr hardware from analog devices based on
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* \file fmcomms2_signal_source.cc
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* \brief Signal source for SDR hardware from Analog Devices based on
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* fmcomms2 evaluation board.
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* \author Rodrigo Muñoz, 2017, rmunozl(at)inacap.cl
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*
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@ -36,6 +36,7 @@
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include <glog/logging.h>
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#include <exception>
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#include <iostream>
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@ -70,7 +71,7 @@ Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration
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dump_ = configuration->property(role + ".dump", false);
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dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
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//AD9361 Local Oscillator generation for dual band operation
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// AD9361 Local Oscillator generation for dual band operation
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enable_dds_lo_ = configuration->property(role + ".enable_dds_lo", false);
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freq_rf_tx_hz_ = configuration->property(role + ".freq_rf_tx_hz", GPS_L1_FREQ_HZ - GPS_L2_FREQ_HZ - 1000);
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freq_dds_tx_hz_ = configuration->property(role + ".freq_dds_tx_hz", 1000);
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@ -104,7 +105,7 @@ Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration
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rf_port_select_.c_str(), filter_file_.c_str(),
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filter_auto_);
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//configure LO
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// configure LO
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if (enable_dds_lo_ == true)
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{
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std::cout << "Enabling Local Oscillator generator in FMCOMMS2\n";
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@ -135,7 +136,7 @@ Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration
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gain_mode_rx2_.c_str(), rf_gain_rx2_,
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rf_port_select_.c_str(), filter_file_.c_str(),
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filter_auto_);
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//configure LO
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// configure LO
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if (enable_dds_lo_ == true)
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{
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std::cout << "Enabling Local Oscillator generator in FMCOMMS2\n";
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@ -179,7 +180,14 @@ Fmcomms2SignalSource::~Fmcomms2SignalSource()
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{
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if (enable_dds_lo_ == true)
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{
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ad9361_disable_lo_remote(uri_);
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try
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{
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ad9361_disable_lo_remote(uri_);
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Exception thrown in Fmcomms2SignalSource destructor: " << e.what();
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}
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}
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}
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@ -33,10 +33,8 @@
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#include "gr_complex_ip_packet_source.h"
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#include <gnuradio/io_signature.h>
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//#include <cstdlib>
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#define FIFO_SIZE 1472000
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const int FIFO_SIZE = 1472000;
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/* 4 bytes IP address */
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@ -48,6 +46,7 @@ typedef struct gr_ip_address
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u_char byte4;
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} gr_ip_address;
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/* IPv4 header */
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typedef struct gr_ip_header
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{
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@ -64,6 +63,7 @@ typedef struct gr_ip_header
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u_int op_pad; // Option + Padding
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} gr_ip_header;
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/* UDP header*/
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typedef struct gr_udp_header
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{
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@ -73,6 +73,7 @@ typedef struct gr_udp_header
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u_short crc; // Checksum
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} gr_udp_header;
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gr_complex_ip_packet_source::sptr
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gr_complex_ip_packet_source::make(std::string src_device,
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std::string origin_address,
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@ -93,6 +94,7 @@ gr_complex_ip_packet_source::make(std::string src_device,
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IQ_swap_));
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}
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/*
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* The private constructor
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*/
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@ -106,9 +108,8 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
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bool IQ_swap_)
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: gr::sync_block("gr_complex_ip_packet_source",
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gr::io_signature::make(0, 0, 0),
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gr::io_signature::make(1, 4, item_size)) //1 to 4 baseband complex channels
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gr::io_signature::make(1, 4, item_size)) // 1 to 4 baseband complex channels
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{
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// constructor code here
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std::cout << "Start Ethernet packet capture\n";
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d_n_baseband_channels = n_baseband_channels;
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@ -133,7 +134,7 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
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d_udp_payload_size = udp_packet_size;
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d_fifo_full = false;
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//allocate signal samples buffer
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// allocate signal samples buffer
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fifo_buff = new char[FIFO_SIZE];
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fifo_read_ptr = 0;
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fifo_write_ptr = 0;
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@ -143,14 +144,16 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
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d_sock_raw = 0;
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d_pcap_thread = NULL;
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descr = NULL;
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memset(reinterpret_cast<char *>(&si_me), 0, sizeof(si_me));
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}
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//Called by gnuradio to enable drivers, etc for i/o devices.
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// Called by gnuradio to enable drivers, etc for i/o devices.
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bool gr_complex_ip_packet_source::start()
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{
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std::cout << "gr_complex_ip_packet_source START\n";
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//open the ethernet device
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// open the ethernet device
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if (open() == true)
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{
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// start pcap capture thread
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@ -163,7 +166,8 @@ bool gr_complex_ip_packet_source::start()
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}
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}
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//Called by gnuradio to disable drivers, etc for i/o devices.
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// Called by gnuradio to disable drivers, etc for i/o devices.
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bool gr_complex_ip_packet_source::stop()
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{
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std::cout << "gr_complex_ip_packet_source STOP\n";
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@ -176,42 +180,44 @@ bool gr_complex_ip_packet_source::stop()
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return true;
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}
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bool gr_complex_ip_packet_source::open()
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{
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char errbuf[PCAP_ERRBUF_SIZE];
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boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
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/* open device for reading */
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// open device for reading
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descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf);
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if (descr == NULL)
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{
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std::cout << "Error openning Ethernet device " << d_src_device << std::endl;
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printf("Fatal Error in pcap_open_live(): %s\n", errbuf);
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std::cout << "Error opening Ethernet device " << d_src_device << std::endl;
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std::cout << "Fatal Error in pcap_open_live(): " << std::string(errbuf) << std::endl;
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return false;
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}
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//bind UDP port to avoid automatic reply with ICMP port ureacheable packets from kernel
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// bind UDP port to avoid automatic reply with ICMP port unreachable packets from kernel
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d_sock_raw = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if (d_sock_raw == -1)
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{
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std::cout << "Error openning UDP socket" << std::endl;
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std::cout << "Error opening UDP socket" << std::endl;
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return false;
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}
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// zero out the structure
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memset((char *)&si_me, 0, sizeof(si_me));
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memset(reinterpret_cast<char *>(&si_me), 0, sizeof(si_me));
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si_me.sin_family = AF_INET;
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si_me.sin_port = htons(d_udp_port);
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si_me.sin_addr.s_addr = htonl(INADDR_ANY);
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//bind socket to port
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if (bind(d_sock_raw, (struct sockaddr *)&si_me, sizeof(si_me)) == -1)
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// bind socket to port
|
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if (bind(d_sock_raw, reinterpret_cast<struct sockaddr *>(&si_me), sizeof(si_me)) == -1)
|
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{
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std::cout << "Error openning UDP socket" << std::endl;
|
||||
std::cout << "Error opening UDP socket" << std::endl;
|
||||
return false;
|
||||
}
|
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return true;
|
||||
}
|
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|
||||
|
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gr_complex_ip_packet_source::~gr_complex_ip_packet_source()
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{
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if (d_pcap_thread != NULL)
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@ -222,35 +228,36 @@ gr_complex_ip_packet_source::~gr_complex_ip_packet_source()
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std::cout << "Stop Ethernet packet capture\n";
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}
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|
||||
|
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void gr_complex_ip_packet_source::static_pcap_callback(u_char *args, const struct pcap_pkthdr *pkthdr,
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const u_char *packet)
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{
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||||
gr_complex_ip_packet_source *bridge = (gr_complex_ip_packet_source *)args;
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||||
gr_complex_ip_packet_source *bridge = reinterpret_cast<gr_complex_ip_packet_source *>(args);
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||||
bridge->pcap_callback(args, pkthdr, packet);
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}
|
||||
|
||||
|
||||
void gr_complex_ip_packet_source::pcap_callback(__attribute__((unused)) u_char *args, __attribute__((unused)) const struct pcap_pkthdr *pkthdr,
|
||||
const u_char *packet)
|
||||
{
|
||||
boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
|
||||
|
||||
gr_ip_header *ih;
|
||||
gr_udp_header *uh;
|
||||
const gr_ip_header *ih;
|
||||
const gr_udp_header *uh;
|
||||
|
||||
// eth frame parameters
|
||||
// **** UDP RAW PACKET DECODER ****
|
||||
if ((packet[12] == 0x08) & (packet[13] == 0x00)) //IP FRAME
|
||||
if ((packet[12] == 0x08) & (packet[13] == 0x00)) // IP FRAME
|
||||
{
|
||||
/* retireve the position of the ip header */
|
||||
ih = (gr_ip_header *)(packet +
|
||||
14); //length of ethernet header
|
||||
// retrieve the position of the ip header
|
||||
ih = reinterpret_cast<const gr_ip_header *>(packet + 14); // length of ethernet header
|
||||
|
||||
/* retireve the position of the udp header */
|
||||
// retrieve the position of the udp header
|
||||
u_int ip_len;
|
||||
ip_len = (ih->ver_ihl & 0xf) * 4;
|
||||
uh = (gr_udp_header *)((u_char *)ih + ip_len);
|
||||
uh = reinterpret_cast<const gr_udp_header *>(reinterpret_cast<const u_char *>(ih) + ip_len);
|
||||
|
||||
/* convert from network byte order to host byte order */
|
||||
// convert from network byte order to host byte order
|
||||
//u_short sport;
|
||||
u_short dport;
|
||||
dport = ntohs(uh->dport);
|
||||
@ -271,44 +278,45 @@ void gr_complex_ip_packet_source::pcap_callback(__attribute__((unused)) u_char *
|
||||
// dport);
|
||||
// std::cout<<"uh->len:"<<ntohs(uh->len)<<std::endl;
|
||||
|
||||
int payload_lenght_bytes = ntohs(uh->len) - 8; //total udp packet lenght minus the header lenght
|
||||
//read the payload bytes and insert them into the shared circular buffer
|
||||
u_char *udp_payload = ((u_char *)uh + sizeof(gr_udp_header));
|
||||
if (fifo_items <= (FIFO_SIZE - payload_lenght_bytes))
|
||||
int payload_length_bytes = ntohs(uh->len) - 8; // total udp packet length minus the header length
|
||||
// read the payload bytes and insert them into the shared circular buffer
|
||||
const u_char *udp_payload = (reinterpret_cast<const u_char *>(uh) + sizeof(gr_udp_header));
|
||||
if (fifo_items <= (FIFO_SIZE - payload_length_bytes))
|
||||
{
|
||||
int aligned_write_items = FIFO_SIZE - fifo_write_ptr;
|
||||
if (aligned_write_items >= payload_lenght_bytes)
|
||||
if (aligned_write_items >= payload_length_bytes)
|
||||
{
|
||||
//write all in a single memcpy
|
||||
memcpy(&fifo_buff[fifo_write_ptr], &udp_payload[0], payload_lenght_bytes); //size in bytes
|
||||
fifo_write_ptr += payload_lenght_bytes;
|
||||
// write all in a single memcpy
|
||||
memcpy(&fifo_buff[fifo_write_ptr], &udp_payload[0], payload_length_bytes); // size in bytes
|
||||
fifo_write_ptr += payload_length_bytes;
|
||||
if (fifo_write_ptr == FIFO_SIZE) fifo_write_ptr = 0;
|
||||
fifo_items += payload_lenght_bytes;
|
||||
fifo_items += payload_length_bytes;
|
||||
}
|
||||
else
|
||||
{
|
||||
//two step wrap write
|
||||
memcpy(&fifo_buff[fifo_write_ptr], &udp_payload[0], aligned_write_items); //size in bytes
|
||||
fifo_write_ptr = payload_lenght_bytes - aligned_write_items;
|
||||
memcpy(&fifo_buff[0], &udp_payload[aligned_write_items], fifo_write_ptr); //size in bytes
|
||||
fifo_items += payload_lenght_bytes;
|
||||
// two step wrap write
|
||||
memcpy(&fifo_buff[fifo_write_ptr], &udp_payload[0], aligned_write_items); // size in bytes
|
||||
fifo_write_ptr = payload_length_bytes - aligned_write_items;
|
||||
memcpy(&fifo_buff[0], &udp_payload[aligned_write_items], fifo_write_ptr); // size in bytes
|
||||
fifo_items += payload_length_bytes;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
//notify overflow
|
||||
// notify overflow
|
||||
std::cout << "O" << std::flush;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void gr_complex_ip_packet_source::my_pcap_loop_thread(pcap_t *pcap_handle)
|
||||
|
||||
void gr_complex_ip_packet_source::my_pcap_loop_thread(pcap_t *pcap_handle)
|
||||
{
|
||||
pcap_loop(pcap_handle, -1, gr_complex_ip_packet_source::static_pcap_callback, (u_char *)this);
|
||||
pcap_loop(pcap_handle, -1, gr_complex_ip_packet_source::static_pcap_callback, reinterpret_cast<u_char *>(this));
|
||||
}
|
||||
|
||||
|
||||
void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items, int num_samples_readed)
|
||||
{
|
||||
int8_t real;
|
||||
@ -318,22 +326,22 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
|
||||
{
|
||||
switch (d_wire_sample_type)
|
||||
{
|
||||
case 1: //interleaved byte samples
|
||||
case 1: // interleaved byte samples
|
||||
for (long unsigned int i = 0; i < output_items.size(); i++)
|
||||
{
|
||||
real = fifo_buff[fifo_read_ptr++];
|
||||
imag = fifo_buff[fifo_read_ptr++];
|
||||
if (d_IQ_swap)
|
||||
{
|
||||
(static_cast<gr_complex *>(output_items[i]))[n] = gr_complex(real, imag);
|
||||
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(real, imag);
|
||||
}
|
||||
else
|
||||
{
|
||||
(static_cast<gr_complex *>(output_items[i]))[n] = gr_complex(imag, real);
|
||||
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(imag, real);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case 2: // 4bits samples
|
||||
case 2: // 4-bit samples
|
||||
for (long unsigned int i = 0; i < output_items.size(); i++)
|
||||
{
|
||||
tmp_char2 = fifo_buff[fifo_read_ptr] & 0x0F;
|
||||
@ -357,11 +365,11 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
|
||||
}
|
||||
if (d_IQ_swap)
|
||||
{
|
||||
(static_cast<gr_complex *>(output_items[i]))[n] = gr_complex(imag, real);
|
||||
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(imag, real);
|
||||
}
|
||||
else
|
||||
{
|
||||
(static_cast<gr_complex *>(output_items[i]))[n] = gr_complex(real, imag);
|
||||
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(real, imag);
|
||||
}
|
||||
}
|
||||
break;
|
||||
@ -373,6 +381,7 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int gr_complex_ip_packet_source::work(int noutput_items,
|
||||
__attribute__((unused)) gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items)
|
||||
@ -390,44 +399,44 @@ int gr_complex_ip_packet_source::work(int noutput_items,
|
||||
int bytes_requested;
|
||||
switch (d_wire_sample_type)
|
||||
{
|
||||
case 1: //complex byte samples
|
||||
case 1: // complex byte samples
|
||||
bytes_requested = noutput_items * d_bytes_per_sample;
|
||||
if (bytes_requested < fifo_items)
|
||||
{
|
||||
num_samples_readed = noutput_items; //read all
|
||||
num_samples_readed = noutput_items; // read all
|
||||
}
|
||||
else
|
||||
{
|
||||
num_samples_readed = fifo_items / d_bytes_per_sample; //read what we have
|
||||
num_samples_readed = fifo_items / d_bytes_per_sample; // read what we have
|
||||
}
|
||||
break;
|
||||
case 2: //complex 4 bits samples
|
||||
case 2: // complex 4 bits samples
|
||||
bytes_requested = noutput_items * d_bytes_per_sample;
|
||||
if (bytes_requested < fifo_items)
|
||||
{
|
||||
num_samples_readed = noutput_items; //read all
|
||||
num_samples_readed = noutput_items; // read all
|
||||
}
|
||||
else
|
||||
{
|
||||
num_samples_readed = fifo_items / d_bytes_per_sample; //read what we have
|
||||
num_samples_readed = fifo_items / d_bytes_per_sample; // read what we have
|
||||
}
|
||||
break;
|
||||
default: //complex byte samples
|
||||
default: // complex byte samples
|
||||
bytes_requested = noutput_items * d_bytes_per_sample;
|
||||
if (bytes_requested < fifo_items)
|
||||
{
|
||||
num_samples_readed = noutput_items; //read all
|
||||
num_samples_readed = noutput_items; // read all
|
||||
}
|
||||
else
|
||||
{
|
||||
num_samples_readed = fifo_items / d_bytes_per_sample; //read what we have
|
||||
num_samples_readed = fifo_items / d_bytes_per_sample; // read what we have
|
||||
}
|
||||
}
|
||||
|
||||
bytes_requested = num_samples_readed * d_bytes_per_sample;
|
||||
//read all in a single loop
|
||||
// read all in a single loop
|
||||
demux_samples(output_items, num_samples_readed); // it also increases the fifo read pointer
|
||||
//update fifo items
|
||||
// update fifo items
|
||||
fifo_items = fifo_items - bytes_requested;
|
||||
|
||||
for (long unsigned int n = 0; n < output_items.size(); n++)
|
||||
|
||||
@ -154,7 +154,7 @@ rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address,
|
||||
|
||||
rtl_tcp_signal_source_c::~rtl_tcp_signal_source_c()
|
||||
{
|
||||
boost::mutex::scoped_lock lock(mutex_);
|
||||
mutex_.unlock();
|
||||
io_service_.stop();
|
||||
not_empty_.notify_one();
|
||||
not_full_.notify_one();
|
||||
|
||||
@ -281,7 +281,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
|
||||
|
||||
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
|
||||
clear_tracking_vars();
|
||||
|
||||
// map memory pointers of correlator outputs
|
||||
if (d_veml)
|
||||
@ -328,17 +328,14 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
|
||||
{
|
||||
// Extra correlator for the data component
|
||||
correlator_data_cpu.init(2 * trk_parameters.vector_length, 1);
|
||||
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
||||
d_data_code = static_cast<float *>(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
}
|
||||
else
|
||||
{
|
||||
d_Prompt_Data = nullptr;
|
||||
d_data_code = nullptr;
|
||||
}
|
||||
|
||||
//--- Initializations ---//
|
||||
// --- Initializations ---
|
||||
// Initial code frequency basis of NCO
|
||||
d_code_freq_chips = d_code_chip_rate;
|
||||
// Residual code phase (in chips)
|
||||
@ -359,8 +356,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
|
||||
d_CN0_SNV_dB_Hz = 0.0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
|
||||
|
||||
clear_tracking_vars();
|
||||
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
||||
|
||||
d_acquisition_gnss_synchro = nullptr;
|
||||
d_channel = 0;
|
||||
@ -383,9 +379,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
|
||||
void dll_pll_veml_tracking::start_tracking()
|
||||
{
|
||||
gr::thread::scoped_lock l(d_setlock);
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
|
||||
// correct the code phase according to the delay between acq and trk
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
@ -396,7 +391,7 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
DLOG(INFO) << "Number of seconds between Acquisition and Tracking = " << acq_trk_diff_seconds;
|
||||
// Doppler effect Fd = (C / (C + Vr)) * F
|
||||
double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
// new chip and PRN sequence periods based on acq Doppler
|
||||
d_code_freq_chips = radial_velocity * d_code_chip_rate;
|
||||
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
|
||||
double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
||||
@ -566,7 +561,6 @@ dll_pll_veml_tracking::~dll_pll_veml_tracking()
|
||||
volk_gnsssdr_free(d_tracking_code);
|
||||
if (trk_parameters.track_pilot)
|
||||
{
|
||||
volk_gnsssdr_free(d_Prompt_Data);
|
||||
volk_gnsssdr_free(d_data_code);
|
||||
correlator_data_cpu.free();
|
||||
}
|
||||
@ -735,7 +729,7 @@ void dll_pll_veml_tracking::run_dll_pll()
|
||||
void dll_pll_veml_tracking::clear_tracking_vars()
|
||||
{
|
||||
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
|
||||
if (trk_parameters.track_pilot) *d_Prompt_Data = gr_complex(0.0, 0.0);
|
||||
if (trk_parameters.track_pilot) d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
||||
d_carr_error_hz = 0.0;
|
||||
d_carr_error_filt_hz = 0.0;
|
||||
d_code_error_chips = 0.0;
|
||||
|
||||
@ -35,12 +35,128 @@
|
||||
#include "nmea_printer.h"
|
||||
|
||||
|
||||
TEST(NmeaPrinterTest, PrintLine)
|
||||
class NmeaPrinterTest : public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
NmeaPrinterTest()
|
||||
{
|
||||
this->conf();
|
||||
}
|
||||
~NmeaPrinterTest()
|
||||
{
|
||||
}
|
||||
void conf();
|
||||
rtk_t rtk;
|
||||
};
|
||||
|
||||
void NmeaPrinterTest::conf()
|
||||
{
|
||||
snrmask_t snrmask = {{}, {{}, {}}};
|
||||
int positioning_mode = 0; // Single
|
||||
int number_of_frequencies = 1;
|
||||
double elevation_mask = 5;
|
||||
int navigation_system = 1; // GPS
|
||||
int integer_ambiguity_resolution_gps = 0;
|
||||
int integer_ambiguity_resolution_glo = 0;
|
||||
int integer_ambiguity_resolution_bds = 0;
|
||||
int outage_reset_ambiguity = 5;
|
||||
int min_lock_to_fix_ambiguity = 0;
|
||||
int iono_model = 0;
|
||||
int trop_model = 0;
|
||||
int dynamics_model = 0;
|
||||
int earth_tide = 0;
|
||||
int number_filter_iter = 1;
|
||||
double code_phase_error_ratio_l1 = 100.0;
|
||||
double code_phase_error_ratio_l2 = 100.0;
|
||||
double code_phase_error_ratio_l5 = 100.0;
|
||||
double carrier_phase_error_factor_a = 0.003;
|
||||
double carrier_phase_error_factor_b = 0.003;
|
||||
double bias_0 = 30.0;
|
||||
double iono_0 = 0.03;
|
||||
double trop_0 = 0.3;
|
||||
double sigma_bias = 1e-4;
|
||||
double sigma_iono = 1e-3;
|
||||
double sigma_trop = 1e-4;
|
||||
double sigma_acch = 1e-1;
|
||||
double sigma_accv = 1e-2;
|
||||
double sigma_pos = 0.0;
|
||||
double min_ratio_to_fix_ambiguity = 3.0;
|
||||
double min_elevation_to_fix_ambiguity = 0.0;
|
||||
double slip_threshold = 0.05;
|
||||
double threshold_reject_innovation = 30.0;
|
||||
double threshold_reject_gdop = 30.0;
|
||||
int sat_PCV = 0;
|
||||
int rec_PCV = 0;
|
||||
int phwindup = 0;
|
||||
int reject_GPS_IIA = 0;
|
||||
int raim_fde = 0;
|
||||
|
||||
prcopt_t rtklib_configuration_options = {
|
||||
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
0, /* solution type (0:forward,1:backward,2:combined) */
|
||||
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
|
||||
navigation_system, /* navigation system */
|
||||
elevation_mask * D2R, /* elevation mask angle (degrees) */
|
||||
snrmask, /* snrmask_t snrmask SNR mask */
|
||||
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
|
||||
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
||||
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
|
||||
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
|
||||
outage_reset_ambiguity, /* obs outage count to reset bias */
|
||||
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
|
||||
10, /* min fix count to hold ambiguity */
|
||||
1, /* max iteration to resolve ambiguity */
|
||||
iono_model, /* ionosphere option (IONOOPT_XXX) */
|
||||
trop_model, /* troposphere option (TROPOPT_XXX) */
|
||||
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
|
||||
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
|
||||
number_filter_iter, /* number of filter iteration */
|
||||
0, /* code smoothing window size (0:none) */
|
||||
0, /* interpolate reference obs (for post mission) */
|
||||
0, /* sbssat_t sbssat SBAS correction options */
|
||||
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
|
||||
0, /* rover position for fixed mode */
|
||||
0, /* base position for relative mode */
|
||||
/* 0:pos in prcopt, 1:average of single pos, */
|
||||
/* 2:read from file, 3:rinex header, 4:rtcm pos */
|
||||
{code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
|
||||
{100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
|
||||
{bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
|
||||
{sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
|
||||
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
|
||||
{min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
|
||||
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
|
||||
0.0, /* elevation mask to hold ambiguity (deg) */
|
||||
slip_threshold, /* slip threshold of geometry-free phase (m) */
|
||||
30.0, /* max difference of time (sec) */
|
||||
threshold_reject_innovation, /* reject threshold of innovation (m) */
|
||||
threshold_reject_gdop, /* reject threshold of gdop */
|
||||
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
|
||||
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
|
||||
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
|
||||
{"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
|
||||
{{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
|
||||
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
|
||||
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
|
||||
0, /* max averaging epoches */
|
||||
0, /* initialize by restart */
|
||||
1, /* output single by dgps/float/fix/ppp outage */
|
||||
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
|
||||
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
|
||||
0, /* solution sync mode (0:off,1:on) */
|
||||
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
||||
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
|
||||
0, /* disable L2-AR */
|
||||
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
|
||||
};
|
||||
|
||||
rtkinit(&rtk, &rtklib_configuration_options);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(NmeaPrinterTest, PrintLine)
|
||||
{
|
||||
std::string filename("nmea_test.nmea");
|
||||
rtk_t rtk;
|
||||
prcopt_t rtklib_configuration_options;
|
||||
rtkinit(&rtk, &rtklib_configuration_options);
|
||||
std::shared_ptr<rtklib_solver> pvt_solution = std::make_shared<rtklib_solver>(12, "filename", false, rtk);
|
||||
|
||||
boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
|
||||
@ -76,12 +192,9 @@ TEST(NmeaPrinterTest, PrintLine)
|
||||
}
|
||||
|
||||
|
||||
TEST(NmeaPrinterTest, PrintLineLessthan10min)
|
||||
TEST_F(NmeaPrinterTest, PrintLineLessthan10min)
|
||||
{
|
||||
std::string filename("nmea_test.nmea");
|
||||
rtk_t rtk;
|
||||
prcopt_t rtklib_configuration_options;
|
||||
rtkinit(&rtk, &rtklib_configuration_options);
|
||||
std::shared_ptr<rtklib_solver> pvt_solution = std::make_shared<rtklib_solver>(12, "filename", false, rtk);
|
||||
|
||||
boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
|
||||
|
||||
Loading…
Reference in New Issue
Block a user