mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
Fix test
This commit is contained in:
Carles Fernandez
parent
200a5b8cd4
commit
c7cd0ee9ad
@ -61,14 +61,15 @@ using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<GalileoE5bPcps
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using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
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#endif
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
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class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block
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{
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private:
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friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
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friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
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void msg_handler_events(pmt::pmt_t msg);
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GalileoE5bPcpsAcquisitionTest_msg_rx();
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explicit GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue);
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Concurrent_Queue<int>& channel_internal_queue;
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public:
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int rx_message;
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@ -76,9 +77,9 @@ public:
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};
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make()
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GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue)
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{
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return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx());
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return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx(queue));
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}
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@ -88,6 +89,7 @@ void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
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{
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int64_t message = pmt::to_long(std::move(msg));
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rx_message = message;
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channel_internal_queue.push(rx_message);
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}
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catch (boost::bad_any_cast& e)
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{
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@ -97,7 +99,7 @@ void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
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}
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GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue) : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"),
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@ -128,17 +130,65 @@ protected:
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config = std::make_shared<InMemoryConfiguration>();
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item_size = sizeof(gr_complex);
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gnss_synchro = Gnss_Synchro();
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stop = false;
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}
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~GalileoE5bPcpsAcquisitionTest() = default;
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void init();
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void start_queue();
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void wait_message();
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void process_message();
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void stop_queue();
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Concurrent_Queue<int> channel_internal_queue;
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std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
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#if GNURADIO_USES_STD_POINTERS
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std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
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#else
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boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
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#endif
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gr::top_block_sptr top_block;
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std::shared_ptr<GNSSBlockFactory> factory;
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std::shared_ptr<InMemoryConfiguration> config;
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Gnss_Synchro gnss_synchro;
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size_t item_size;
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bool stop;
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int message;
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std::thread ch_thread;
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unsigned int num_of_realizations = 10;
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unsigned int realization_counter;
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unsigned int detection_counter;
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unsigned int correct_estimation_counter;
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unsigned int acquired_samples;
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unsigned int mean_acq_time_us;
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double expected_doppler_hz = -632;
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double expected_delay_chips = 53;
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double expected_delay_sec = 94;
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double expected_delay_chips1 = 0.0;
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double expected_delay_sec1 = 0.0;
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double expected_doppler_hz1 = 0.0;
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double expected_delay_chips2 = 0.0;
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double expected_delay_sec2 = 0.0;
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double expected_doppler_hz2 = 0.0;
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double expected_delay_chips3 = 0.0;
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double expected_delay_sec3 = 0.0;
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double expected_doppler_hz3 = 0.0;
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float max_doppler_error_hz = 0.0;
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float max_delay_error_chips = 0.0;
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double fs_in = 12e6;
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double mse_doppler;
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double mse_delay;
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double Pd;
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double Pfa_p;
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double Pfa_a;
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int sat = 0;
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};
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@ -155,15 +205,15 @@ void GalileoE5bPcpsAcquisitionTest::init()
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config->set_property("SignalSource.signal_0", "7X");
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config->set_property("SignalSource.PRN_0", "11");
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config->set_property("SignalSource.CN0_dB_0", "50");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(1000));
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config->set_property("SignalSource.delay_chips_0", std::to_string(50));
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config->set_property("SignalSource.delay_sec_0", std::to_string(94));
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.delay_sec_0", std::to_string(expected_delay_sec));
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config->set_property("SignalSource.noise_flag", "false");
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config->set_property("SignalSource.data_flag", "false");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("SignalSource.dump", "false");
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config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
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config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
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config->set_property("InputFilter.implementation", "Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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@ -193,21 +243,121 @@ void GalileoE5bPcpsAcquisitionTest::init()
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config->set_property("Acquisition_7X.repeat_satellite", "false");
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}
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void GalileoE5bPcpsAcquisitionTest::start_queue()
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{
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stop = false;
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ch_thread = std::thread(&GalileoE5bPcpsAcquisitionTest::wait_message, this);
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}
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void GalileoE5bPcpsAcquisitionTest::wait_message()
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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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while (!stop)
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{
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acquisition->reset();
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start = std::chrono::system_clock::now();
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channel_internal_queue.wait_and_pop(message);
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end = std::chrono::system_clock::now();
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elapsed_seconds = end - start;
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mean_acq_time_us += elapsed_seconds.count() * 1e6;
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process_message();
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}
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}
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void GalileoE5bPcpsAcquisitionTest::process_message()
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{
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if (message == 1)
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{
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double delay_error_chips = 0.0;
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double doppler_error_hz = 0.0;
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switch (sat)
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{
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case 0:
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delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
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doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
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break;
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case 1:
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delay_error_chips = std::abs(static_cast<double>(expected_delay_chips1) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
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doppler_error_hz = std::abs(expected_doppler_hz1 - gnss_synchro.Acq_doppler_hz);
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break;
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case 2:
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delay_error_chips = std::abs(static_cast<double>(expected_delay_chips2) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
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doppler_error_hz = std::abs(expected_doppler_hz2 - gnss_synchro.Acq_doppler_hz);
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break;
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case 3:
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delay_error_chips = std::abs(static_cast<double>(expected_delay_chips3) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
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doppler_error_hz = std::abs(expected_doppler_hz3 - gnss_synchro.Acq_doppler_hz);
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break;
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default: // case 3
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std::cout << "Error: message from unexpected acquisition channel\n";
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break;
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}
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detection_counter++;
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// The term -5 is here to correct the additional delay introduced by the FIR filter
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/*
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double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
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double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
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*/
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mse_delay += std::pow(delay_error_chips, 2);
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mse_doppler += std::pow(doppler_error_hz, 2);
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if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
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{
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correct_estimation_counter++;
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}
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}
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realization_counter++;
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// std::cout << correct_estimation_counter << "correct estimation counter\n";
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std::cout << "Progress: " << round(static_cast<float>(realization_counter / num_of_realizations * 100)) << "% \r" << std::flush;
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// std::cout << message << "message'\n'";
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if (realization_counter == num_of_realizations)
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{
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mse_delay /= num_of_realizations;
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mse_doppler /= num_of_realizations;
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Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
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Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
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Pfa_p = static_cast<double>(detection_counter - correct_estimation_counter) / static_cast<double>(num_of_realizations);
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mean_acq_time_us /= num_of_realizations;
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stop_queue();
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top_block->stop();
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}
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}
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void GalileoE5bPcpsAcquisitionTest::stop_queue()
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{
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stop = true;
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}
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TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate)
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{
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init();
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#if GNURADIO_USES_STD_POINTERS
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std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#else
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boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#endif
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}
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TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
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{
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int fs_in = 4000000;
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int nsamples = 4000;
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std::chrono::time_point<std::chrono::system_clock> begin, end;
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std::chrono::duration<double> elapsed_seconds(0);
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@ -216,12 +366,12 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
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top_block = gr::make_top_block("Acquisition test");
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init();
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#if GNURADIO_USES_STD_POINTERS
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std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#else
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boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#endif
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auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make();
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auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
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ASSERT_NO_THROW({
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acquisition->connect(top_block);
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@ -245,16 +395,16 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
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TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
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{
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std::chrono::time_point<std::chrono::system_clock> begin, end;
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std::chrono::duration<double> elapsed_seconds(0);
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top_block = gr::make_top_block("Acquisition test");
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double expected_delay_samples = 2920;
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double expected_doppler_hz = -632;
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init();
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std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#if GNURADIO_USES_STD_POINTERS
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acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#else
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acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
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#endif
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std::shared_ptr<FirFilter> input_filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
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auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make();
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auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
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std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
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ASSERT_NO_THROW({
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@ -281,10 +431,6 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
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acquisition->connect(top_block);
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}) << "Failure connecting acquisition to the top_block.";
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acquisition->set_local_code();
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acquisition->set_state(1); // Ensure that acquisition starts at the first sample
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acquisition->init();
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ASSERT_NO_THROW({
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std::shared_ptr<GNSSBlockInterface> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
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std::shared_ptr<GNSSBlockInterface> filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
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@ -295,22 +441,55 @@ TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
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top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting the blocks of acquisition test.";
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acquisition->reset();
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acquisition->init();
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// i = 0 --> satellite in acquisition is visible
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// i = 1 --> satellite in acquisition is not visible
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for (unsigned int i = 0; i < 1; i++)
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{
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init();
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switch (i)
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{
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case 0:
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{
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gnss_synchro.PRN = 11; // present
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break;
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}
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case 1:
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{
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gnss_synchro.PRN = 19; // not present
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break;
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}
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}
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acquisition->set_gnss_synchro(&gnss_synchro);
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acquisition->set_local_code();
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acquisition->set_state(1);
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start_queue();
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EXPECT_NO_THROW({
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begin = std::chrono::system_clock::now();
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top_block->run(); // Start threads and wait
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end = std::chrono::system_clock::now();
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elapsed_seconds = end - begin;
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}) << "Failure running the top_block.";
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uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
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std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
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stop_queue();
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ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
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ch_thread.join();
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double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
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float delay_error_chips = static_cast<float>(delay_error_samples) * 10230.0 / 4000.0;
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double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
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EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
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EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
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if (i == 0)
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{
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EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
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if (message == 1)
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{
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// std::cout << gnss_synchro.Acq_delay_samples << "acq delay'\n'";
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// std::cout << gnss_synchro.Acq_doppler_hz << "acq doppler'\n'";
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EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user