mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-04-28 05:33:20 +00:00
unit-test: Testing RTCM MS1020 Message generation
Tests MS1020 message and fixes several bugs that show up while debugging the code. Major changes were introduced due to the bug correction process
This commit is contained in:
Damian Miralles
Damian Miralles
parent
eb33715cb9
commit
e1d8a7b23a
@ -330,7 +330,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
|
||||
{
|
||||
case 1:
|
||||
//--- It is string 1 -----------------------------------------------
|
||||
gnav_ephemeris.d_P_1 = static_cast<double>(read_navigation_unsigned(string_bits, P1));
|
||||
gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1)*15;
|
||||
gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
|
||||
static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
|
||||
static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;
|
||||
@ -338,25 +338,24 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
|
||||
gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * TWO_N30;
|
||||
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * TWO_N11;
|
||||
|
||||
if(gnav_ephemeris.d_P_1 != 0)
|
||||
{
|
||||
gnav_ephemeris.d_P_1 = (gnav_ephemeris.d_P_1 + 1)*15;
|
||||
}
|
||||
flag_ephemeris_str_1 = true;
|
||||
|
||||
break;
|
||||
|
||||
case 2:
|
||||
//--- It is string 2 -----------------------------------------------
|
||||
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
|
||||
gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
|
||||
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
|
||||
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
|
||||
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
|
||||
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
|
||||
if (flag_ephemeris_str_1 == true)
|
||||
{
|
||||
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
|
||||
gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
|
||||
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*gnav_ephemeris.d_P_1*60;
|
||||
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* TWO_N20;
|
||||
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * TWO_N30;
|
||||
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N)) * TWO_N11;
|
||||
|
||||
gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
|
||||
flag_ephemeris_str_2 = true;
|
||||
gnav_ephemeris.d_iode = read_navigation_unsigned(string_bits, T_B);
|
||||
flag_ephemeris_str_2 = true;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
|
||||
@ -316,6 +316,41 @@ long int Rtcm::bin_to_int(const std::string& s) const
|
||||
}
|
||||
|
||||
|
||||
long int Rtcm::bin_to_sint(const std::string& s) const
|
||||
{
|
||||
if(s.length() > 32)
|
||||
{
|
||||
LOG(WARNING) << "Cannot convert to a long int";
|
||||
return 0;
|
||||
}
|
||||
long int reading;
|
||||
long int sign;
|
||||
|
||||
// Check for sign bit as defined RTCM doc
|
||||
if(s.substr(0,1).compare("0") == 0)
|
||||
{
|
||||
sign = 1;
|
||||
// Get the magnitude of the value
|
||||
reading = strtol((s.substr (1)).c_str(), NULL, 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
sign = -1;
|
||||
// Get the magnitude of the value
|
||||
reading = strtol((s.substr (1)).c_str(), NULL, 2);
|
||||
}
|
||||
return sign*reading;
|
||||
}
|
||||
|
||||
// Find the sign for glonass data fields (neg = 1, pos = 0)
|
||||
static inline unsigned long glo_sgn(double val)
|
||||
{
|
||||
if (val < 0) return 1; // If value is negative return 1
|
||||
if (val==0) return 0; // Positive or equal to zero return 0
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
double Rtcm::bin_to_double(const std::string& s) const
|
||||
{
|
||||
double reading;
|
||||
@ -1791,7 +1826,7 @@ std::string Rtcm::print_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph,
|
||||
DF134.to_string() +
|
||||
DF135.to_string() +
|
||||
DF136.to_string() +
|
||||
DF137.to_string();
|
||||
std::bitset<7>().to_string(); // Reserved bits
|
||||
|
||||
if (data.length() != 360)
|
||||
{
|
||||
@ -1828,7 +1863,7 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
|
||||
unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
|
||||
index += 10;
|
||||
|
||||
if (read_message_length != 61)
|
||||
if (read_message_length != 45) // 360 bits = 45 bytes
|
||||
{
|
||||
LOG(WARNING) << " Message MT1020 seems too long (61 bytes expected, " << read_message_length << " received)";
|
||||
return 1;
|
||||
@ -1859,7 +1894,8 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
|
||||
index += 1;
|
||||
if(glonass_gnav_alm_health_ind){} //Avoid comiler warning
|
||||
|
||||
glonass_gnav_eph.d_P_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
|
||||
glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
|
||||
glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1+1)*15;
|
||||
index += 2;
|
||||
|
||||
glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))*3600;
|
||||
@ -1875,41 +1911,41 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
|
||||
glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
|
||||
index += 1;
|
||||
|
||||
glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*15.0*60.0;
|
||||
glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7)))*glonass_gnav_eph.d_P_1*60.0;
|
||||
index += 7;
|
||||
|
||||
// TODO Check for type spec for intS24
|
||||
glonass_gnav_eph.d_VXn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
|
||||
glonass_gnav_eph.d_VXn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 24)))*TWO_N20;
|
||||
index += 24;
|
||||
|
||||
glonass_gnav_eph.d_Xn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
|
||||
glonass_gnav_eph.d_Xn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 27)))*TWO_N11;
|
||||
index += 27;
|
||||
|
||||
glonass_gnav_eph.d_AXn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
|
||||
glonass_gnav_eph.d_AXn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))*TWO_N30;
|
||||
index += 5;
|
||||
|
||||
glonass_gnav_eph.d_VYn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
|
||||
glonass_gnav_eph.d_VYn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 24)))*TWO_N20;
|
||||
index += 24;
|
||||
|
||||
glonass_gnav_eph.d_Yn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
|
||||
glonass_gnav_eph.d_Yn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 27)))*TWO_N11;
|
||||
index += 27;
|
||||
|
||||
glonass_gnav_eph.d_AYn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
|
||||
glonass_gnav_eph.d_AYn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))*TWO_N30;
|
||||
index += 5;
|
||||
|
||||
glonass_gnav_eph.d_VZn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24)))*TWO_N20;
|
||||
glonass_gnav_eph.d_VZn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 24)))*TWO_N20;
|
||||
index += 24;
|
||||
|
||||
glonass_gnav_eph.d_Zn = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 27)))*TWO_N11;
|
||||
glonass_gnav_eph.d_Zn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 27)))*TWO_N11;
|
||||
index += 27;
|
||||
|
||||
glonass_gnav_eph.d_AZn = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)))*TWO_N30;
|
||||
glonass_gnav_eph.d_AZn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))*TWO_N30;
|
||||
index += 5;
|
||||
|
||||
glonass_gnav_eph.d_P_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
|
||||
index += 1;
|
||||
|
||||
glonass_gnav_eph.d_gamma_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)))*TWO_N30;
|
||||
glonass_gnav_eph.d_gamma_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 11)))*TWO_N30;
|
||||
index += 11;
|
||||
|
||||
glonass_gnav_eph.d_P = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
|
||||
@ -1918,10 +1954,10 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
|
||||
glonass_gnav_eph.d_l3rd_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
|
||||
index += 1;
|
||||
|
||||
glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 22)))* TWO_N30;
|
||||
glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 22)))* TWO_N30;
|
||||
index += 22;
|
||||
|
||||
glonass_gnav_eph.d_Delta_tau_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5)))* TWO_N30;
|
||||
glonass_gnav_eph.d_Delta_tau_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5)))* TWO_N30;
|
||||
index += 5;
|
||||
|
||||
glonass_gnav_eph.d_E_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
|
||||
@ -1947,13 +1983,13 @@ int Rtcm::read_MT1020(const std::string & message, Glonass_Gnav_Ephemeris & glon
|
||||
glonass_gnav_utc_model.d_N_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 11)));
|
||||
index += 11;
|
||||
|
||||
glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32)))* TWO_N31;
|
||||
glonass_gnav_utc_model.d_tau_c = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 32)))* TWO_N31;
|
||||
index += 32;
|
||||
|
||||
glonass_gnav_utc_model.d_N_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
|
||||
index += 5;
|
||||
|
||||
glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22)))* TWO_N30;
|
||||
glonass_gnav_utc_model.d_tau_gps = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 22)))* TWO_N30;
|
||||
index += 22;
|
||||
|
||||
glonass_gnav_eph.d_l5th_n = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
|
||||
@ -2306,11 +2342,12 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number,
|
||||
bool divergence_free,
|
||||
bool more_messages)
|
||||
{
|
||||
std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
|
||||
std::string sys(gnss_synchro_iter->second.System, 1);
|
||||
// Find first element in observables block and define type of message
|
||||
std::map<int, Gnss_Synchro>::const_iterator observables_iter = observables.begin();
|
||||
std::string sys(observables_iter->second.System, 1);
|
||||
|
||||
Rtcm::set_DF002(msg_number);
|
||||
Rtcm::set_DF003(ref_id);
|
||||
|
||||
Rtcm::set_DF393(more_messages);
|
||||
Rtcm::set_DF409(0); // Issue of Data Station. 0: not utilized
|
||||
std::bitset<7> DF001_ = std::bitset<7>("0000000");
|
||||
@ -4303,7 +4340,8 @@ int Rtcm::set_DF105(unsigned int glonass_gnav_alm_health_ind)
|
||||
|
||||
int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
unsigned int P_1 = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_1));
|
||||
// Convert the value from (15, 30, 45, 60) to (00, 01, 10, 11)
|
||||
unsigned int P_1 = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_P_1/15.0 -1.0));
|
||||
DF106 = std::bitset<2>(P_1);
|
||||
return 0;
|
||||
}
|
||||
@ -4312,7 +4350,22 @@ int Rtcm::set_DF106(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
int Rtcm::set_DF107(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
// TODO Need to fix this here, bit position has a given order
|
||||
DF107 = std::bitset<12>(glonass_gnav_eph.d_t_k);
|
||||
unsigned int hrs = 0;
|
||||
unsigned int min = 0;
|
||||
unsigned int sec = 0;
|
||||
unsigned int tk = 0;
|
||||
tk = static_cast<int>(glonass_gnav_eph.d_t_k);
|
||||
hrs = tk/3600;
|
||||
min = (tk - hrs*3600)/60;
|
||||
sec = (tk - hrs*3600 -min*60)/60;
|
||||
|
||||
std::string _hrs = std::bitset< 5 >( hrs ).to_string(); // string conversion
|
||||
std::string _min = std::bitset< 6 >( min ).to_string(); // string conversion
|
||||
std::string _sec = std::bitset< 1 >( sec ).to_string(); // string conversion
|
||||
|
||||
// Set hrs, min, sec in designed bit positions
|
||||
DF107 = std::bitset<12>(_hrs + _min + _sec);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -4333,7 +4386,7 @@ int Rtcm::set_DF109(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
|
||||
int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b));
|
||||
unsigned int t_b = static_cast<unsigned int>(std::round(glonass_gnav_eph.d_t_b/(glonass_gnav_eph.d_P_1*60)));
|
||||
DF110 = std::bitset<7>(t_b);
|
||||
return 0;
|
||||
}
|
||||
@ -4341,79 +4394,109 @@ int Rtcm::set_DF110(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
|
||||
int Rtcm::set_DF111(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int VXn = static_cast<int>(std::round(glonass_gnav_eph.d_VXn/TWO_N20));
|
||||
DF111 = std::bitset<24>(VXn);
|
||||
int VXn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_VXn/TWO_N20)));
|
||||
unsigned int VXn_sgn = glo_sgn(glonass_gnav_eph.d_VXn);
|
||||
|
||||
DF111 = std::bitset<24>(VXn_mag);
|
||||
DF111.set(23,VXn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF112(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int Xn = static_cast<int>(std::round(glonass_gnav_eph.d_Xn/TWO_N11));
|
||||
DF112 = std::bitset<27>(Xn);
|
||||
int Xn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Xn/TWO_N11)));
|
||||
unsigned int Xn_sgn = glo_sgn(glonass_gnav_eph.d_Xn);
|
||||
|
||||
DF112 = std::bitset<27>(Xn_mag);
|
||||
DF112.set(26,Xn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF113(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int AXn = static_cast<int>(std::round(glonass_gnav_eph.d_AXn/TWO_N11));
|
||||
DF113 = std::bitset<5>(AXn);
|
||||
int AXn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_AXn/TWO_N30)));
|
||||
unsigned int AXn_sgn = glo_sgn(glonass_gnav_eph.d_AXn);
|
||||
|
||||
DF113 = std::bitset<5>(AXn_mag);
|
||||
DF113.set(4,AXn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF114(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int VYn = static_cast<int>(std::round(glonass_gnav_eph.d_VYn/TWO_N20));
|
||||
DF114 = std::bitset<24>(VYn);
|
||||
int VYn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_VYn/TWO_N20)));
|
||||
unsigned int VYn_sgn = glo_sgn(glonass_gnav_eph.d_VYn);
|
||||
|
||||
DF114 = std::bitset<24>(VYn_mag);
|
||||
DF114.set(23,VYn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF115(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int Yn = static_cast<int>(std::round(glonass_gnav_eph.d_Yn/TWO_N11));
|
||||
DF115 = std::bitset<27>(Yn);
|
||||
int Yn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Yn/TWO_N11)));
|
||||
unsigned int Yn_sgn = glo_sgn(glonass_gnav_eph.d_Yn);
|
||||
|
||||
DF115 = std::bitset<27>(Yn_mag);
|
||||
DF115.set(26,Yn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF116(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int AYn = static_cast<int>(std::round(glonass_gnav_eph.d_AYn/TWO_N11));
|
||||
DF116 = std::bitset<5>(AYn);
|
||||
int AYn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_AYn/TWO_N30)));
|
||||
unsigned int AYn_sgn = glo_sgn(glonass_gnav_eph.d_AYn);
|
||||
|
||||
DF116 = std::bitset<5>(AYn_mag);
|
||||
DF116.set(4,AYn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Rtcm::set_DF117(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int VZn = static_cast<int>(std::round(glonass_gnav_eph.d_VZn/TWO_N20));
|
||||
DF117 = std::bitset<24>(VZn);
|
||||
int VZn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_VZn/TWO_N20)));
|
||||
unsigned int VZn_sgn = glo_sgn(glonass_gnav_eph.d_VZn);
|
||||
|
||||
DF117 = std::bitset<24>(VZn_mag);
|
||||
DF117.set(23,VZn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Rtcm::set_DF118(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int Zn = static_cast<int>(std::round(glonass_gnav_eph.d_Zn/TWO_N11));
|
||||
DF118 = std::bitset<27>(Zn);
|
||||
int Zn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Zn/TWO_N11)));
|
||||
unsigned int Zn_sgn = glo_sgn(glonass_gnav_eph.d_Zn);
|
||||
|
||||
DF118 = std::bitset<27>(Zn_mag);
|
||||
DF118.set(26,Zn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Rtcm::set_DF119(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int AZn = static_cast<int>(std::round(glonass_gnav_eph.d_AZn/TWO_N11));
|
||||
DF119 = std::bitset<5>(AZn);
|
||||
int AZn_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_AZn/TWO_N30)));
|
||||
unsigned int AZn_sgn = glo_sgn(glonass_gnav_eph.d_AZn);
|
||||
|
||||
DF119 = std::bitset<5>(AZn_mag);
|
||||
DF119.set(4,AZn_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
unsigned int P3 = static_cast<int>(std::round(glonass_gnav_eph.d_P_3/TWO_N11));
|
||||
unsigned int P3 = static_cast<int>(std::round(glonass_gnav_eph.d_P_3));
|
||||
DF120 = std::bitset<1>(P3);
|
||||
return 0;
|
||||
}
|
||||
@ -4421,8 +4504,11 @@ int Rtcm::set_DF120(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
|
||||
int Rtcm::set_DF121(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int gamma_n = static_cast<int>(std::round(glonass_gnav_eph.d_gamma_n/TWO_N40));
|
||||
DF121 = std::bitset<11>(gamma_n);
|
||||
int gamma_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_gamma_n/TWO_N40)));
|
||||
unsigned int gamma_sgn = glo_sgn(glonass_gnav_eph.d_gamma_n);
|
||||
|
||||
DF121 = std::bitset<11>(gamma_mag);
|
||||
DF121.set(10,gamma_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -4445,16 +4531,22 @@ int Rtcm::set_DF123(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
|
||||
int Rtcm::set_DF124(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_tau_n/TWO_N30));
|
||||
DF124 = std::bitset<22>(tau_n);
|
||||
int tau_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_tau_n/TWO_N30)));
|
||||
unsigned int tau_sgn = glo_sgn(glonass_gnav_eph.d_tau_n);
|
||||
|
||||
DF124 = std::bitset<22>(tau_mag);
|
||||
DF124.set(21,tau_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int Rtcm::set_DF125(const Glonass_Gnav_Ephemeris & glonass_gnav_eph)
|
||||
{
|
||||
int delta_tau_n = static_cast<int>(std::round(glonass_gnav_eph.d_Delta_tau_n));
|
||||
DF125 = std::bitset<5>(delta_tau_n);
|
||||
int delta_tau_mag = static_cast<int>(std::round(fabs(glonass_gnav_eph.d_Delta_tau_n/TWO_N30)));
|
||||
unsigned int delta_tau_sgn = glo_sgn(glonass_gnav_eph.d_Delta_tau_n);
|
||||
|
||||
DF125 = std::bitset<5>(delta_tau_mag);
|
||||
DF125.set(4,delta_tau_sgn);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@ -348,9 +348,16 @@ public:
|
||||
|
||||
unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
|
||||
long int bin_to_int(const std::string & s) const;
|
||||
long int bin_to_sint(const std::string & s) const; //<! Returns a long int from a string of binary symbols
|
||||
double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols
|
||||
|
||||
/*!
|
||||
* \brief Locks time period in which GLONASS signals have been continually tracked.
|
||||
* \note Code added as part of GSoC 2017 program
|
||||
* \param eph GLONASS GNAV Broadcast Ephemeris
|
||||
* \param obs_time Time of observation at the moment of printing
|
||||
* \param observables Set of observables as defined by the platform
|
||||
* \return //<! Returns a long int from a string of binary symbols
|
||||
*/
|
||||
long int bin_to_sint(const std::string & s) const;
|
||||
unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
|
||||
long int hex_to_int(const std::string & s) const; //<! Returns a long int from a string of hexadecimal symbols
|
||||
|
||||
|
||||
@ -253,6 +253,7 @@ TEST(RtcmTest, MT1005)
|
||||
}
|
||||
|
||||
|
||||
|
||||
TEST(RtcmTest, MT1019)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
@ -282,53 +283,32 @@ TEST(RtcmTest, MT1020)
|
||||
bool expected_true = true;
|
||||
|
||||
// Objects to populate the ephemeris and utc fields
|
||||
Glonass_Gnav_Ephemeris gnav_eph = Glonass_Gnav_Ephemeris();
|
||||
Glonass_Gnav_Ephemeris gnav_ephemeris = Glonass_Gnav_Ephemeris();
|
||||
Glonass_Gnav_Utc_Model gnav_utc_model = Glonass_Gnav_Utc_Model();
|
||||
// Objects read, used for comparison
|
||||
Glonass_Gnav_Ephemeris gnav_eph_read = Glonass_Gnav_Ephemeris();
|
||||
Glonass_Gnav_Ephemeris gnav_ephemeris_read = Glonass_Gnav_Ephemeris();
|
||||
Glonass_Gnav_Utc_Model gnav_utc_model_read = Glonass_Gnav_Utc_Model();
|
||||
|
||||
glonass_gnav_eph.i_satellite_slot_number = 3;
|
||||
gnav_ephemeris.d_P_1 = 0;
|
||||
// Perform data read and print of special values types
|
||||
gnav_ephemeris.d_P_1 = 15;
|
||||
// Bit distribution per fields
|
||||
gnav_ephemeris.d_t_k = 7560;
|
||||
// Glonass signed values
|
||||
gnav_ephemeris.d_VXn = -0.490900039672852;
|
||||
gnav_ephemeris.d_AXn = 0;
|
||||
gnav_ephemeris.d_Xn = -11025.6669921875;
|
||||
gnav_ephemeris.d_B_n = 0;
|
||||
gnav_ephemeris.d_P_2 = 1;
|
||||
// Bit distribution per fields dependant on other factors
|
||||
gnav_ephemeris.d_t_b = 8100;
|
||||
gnav_ephemeris.d_VYn = -2.69022750854492;
|
||||
gnav_ephemeris.d_AYn = 0;
|
||||
gnav_ephemeris.d_Yn = -11456.7348632812;
|
||||
// Binary flag representation
|
||||
gnav_ephemeris.d_P_3 = 1;
|
||||
gnav_ephemeris.d_gamma_n = 1.81898940354586e-12;
|
||||
gnav_ephemeris.d_P = 3;
|
||||
gnav_ephemeris.d_l3rd_n = 0;
|
||||
gnav_ephemeris.d_VZn = -1.82016849517822;
|
||||
gnav_ephemeris.d_AZn = -2.79396772384644e-09;
|
||||
gnav_ephemeris.d_Zn = 19929.2377929688;
|
||||
gnav_ephemeris.d_tau_n = -8.30907374620438e-05;
|
||||
gnav_ephemeris.d_Delta_tau_n = 9.31322574615479e-10;
|
||||
gnav_ephemeris.d_E_n = 0;
|
||||
gnav_ephemeris.d_P_4 = 0;
|
||||
gnav_ephemeris.d_F_T = 6;
|
||||
gnav_ephemeris.d_N_T = 268;
|
||||
gnav_ephemeris.d_n = 21;
|
||||
gnav_ephemeris.d_M = 1;
|
||||
gnav_utc_model.d_N_A = 268;
|
||||
gnav_utc_model.d_tau_c = 9.6391886472702e-08;
|
||||
gnav_utc_model.d_N_4 = 6;
|
||||
gnav_utc_model.d_tau_gps = 9.313225746154785e-08;
|
||||
|
||||
std::string tx_msg = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
|
||||
std::string tx_msg = rtcm->print_MT1020(gnav_ephemeris, gnav_utc_model);
|
||||
|
||||
EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, glonass_gnav_eph_read, glonass_gnav_utc_model_read));
|
||||
EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_slot_number);
|
||||
EXPECT_DOUBLE_EQ(4, glonass_gnav_eph_read.d_t_b);
|
||||
EXPECT_DOUBLE_EQ( 2.0 * E_LSB, glonass_gnav_eph_read.d_E_n);
|
||||
EXPECT_DOUBLE_EQ( 5, glonass_gnav_utc_model_read.d_tau_gps);
|
||||
EXPECT_EQ(expected_true, glonass_gnav_eph_read.d_l3rd_n);
|
||||
EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), glonass_gnav_eph_read, glonass_gnav_utc_model_read));
|
||||
EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, gnav_ephemeris_read, gnav_utc_model_read));
|
||||
EXPECT_EQ(gnav_ephemeris.d_P_1, gnav_ephemeris_read.d_P_1);
|
||||
EXPECT_TRUE(gnav_ephemeris.d_t_b - gnav_ephemeris_read.d_t_b < FLT_EPSILON);
|
||||
EXPECT_TRUE( gnav_ephemeris.d_VXn - gnav_ephemeris_read.d_VXn < FLT_EPSILON);
|
||||
EXPECT_TRUE( gnav_ephemeris.d_t_k - gnav_ephemeris.d_t_k < FLT_EPSILON);
|
||||
EXPECT_EQ(gnav_ephemeris.d_P_3, gnav_ephemeris_read.d_P_3);
|
||||
EXPECT_EQ(1, rtcm->read_MT1020(rtcm->bin_to_binary_data(rtcm->hex_to_bin("FFFFFFFFFFF")), gnav_ephemeris_read, gnav_utc_model_read));
|
||||
}
|
||||
|
||||
|
||||
@ -409,12 +389,12 @@ TEST(RtcmTest, MSMCell)
|
||||
gnss_synchro5.System = *gps.c_str();
|
||||
gnss_synchro6.System = *glo.c_str();
|
||||
|
||||
std::memcpy(static_cast<void*>(gnss_synchro.Signal), x5.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro2.Signal), s2.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro3.Signal), c1.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro4.Signal), x5.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro5.Signal), c1.c_str(), 3);
|
||||
std::memcpy(static_cast<void*>(gnss_synchro6.Signal), c1.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro.Signal, x5.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro2.Signal, s2.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro3.Signal, c1.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro4.Signal, x5.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro5.Signal, c1.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro6.Signal, c1.c_str(), 3);
|
||||
|
||||
gnss_synchro.Pseudorange_m = 20000000.0;
|
||||
gnss_synchro2.Pseudorange_m = 20001010.0;
|
||||
@ -445,7 +425,7 @@ TEST(RtcmTest, MSMCell)
|
||||
std::string MSM1 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
glo_gnav_eph,
|
||||
{},
|
||||
obs_time,
|
||||
pseudoranges,
|
||||
ref_id,
|
||||
@ -473,7 +453,7 @@ TEST(RtcmTest, MSMCell)
|
||||
std::string MSM1_2 = rtcm->print_MSM_1(gps_eph,
|
||||
{},
|
||||
gal_eph,
|
||||
glo_gnav_eph,
|
||||
{},
|
||||
obs_time,
|
||||
pseudoranges2,
|
||||
ref_id,
|
||||
@ -488,7 +468,7 @@ TEST(RtcmTest, MSMCell)
|
||||
Gnss_Synchro gnss_synchro7;
|
||||
gnss_synchro7.PRN = 10;
|
||||
gnss_synchro7.System = *gps.c_str();
|
||||
std::memcpy(static_cast<void*>(gnss_synchro7.Signal), s2.c_str(), 3);
|
||||
std::memcpy((void*)gnss_synchro7.Signal, s2.c_str(), 3);
|
||||
gnss_synchro7.Pseudorange_m = 24000000.0;
|
||||
|
||||
std::map<int, Gnss_Synchro> pseudoranges3;
|
||||
|
||||
@ -74,7 +74,7 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
|
||||
Glonass_Gnav_Ephemeris gnav_ephemeris;
|
||||
|
||||
// Fill out ephemeris values for truth
|
||||
gnav_ephemeris.d_P_1 = 0;
|
||||
gnav_ephemeris.d_P_1 = 15;
|
||||
gnav_ephemeris.d_t_k = 7560;
|
||||
gnav_ephemeris.d_VXn = -0.490900039672852;
|
||||
gnav_ephemeris.d_AXn = 0;
|
||||
@ -114,6 +114,8 @@ TEST(GlonassGnavNavigationMessageTest, String2Decoder)
|
||||
gnav_ephemeris.d_Yn = -11456.7348632812;
|
||||
|
||||
// Call target test method
|
||||
gnav_nav_message.flag_ephemeris_str_1 = true;
|
||||
gnav_nav_message.gnav_ephemeris.d_P_1 = 15;
|
||||
gnav_nav_message.string_decoder(const_cast<char*> (str2.c_str()));
|
||||
|
||||
// Perform assertions of decoded fields
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user