From e1d8a7b23a21f5c468b8de58da2d9506830ca437 Mon Sep 17 00:00:00 2001
From: Damian Miralles <dmiralles2009@gmail.com>
Date: Sun, 20 Aug 2017 16:13:37 -0700
Subject: [PATCH] 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
---
.../glonass_gnav_navigation_message.cc | 25 ++-
src/core/system_parameters/rtcm.cc | 190 +++++++++++++-----
src/core/system_parameters/rtcm.h | 11 +-
.../signal-processing-blocks/pvt/rtcm_test.cc | 72 +++----
.../glonass_gnav_nav_message_test.cc | 4 +-
5 files changed, 191 insertions(+), 111 deletions(-)
diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc
index 916b3004a..0b64dc066 100644
--- a/src/core/system_parameters/glonass_gnav_navigation_message.cc
+++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc
@@ -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;
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 662006d92..bce3da0c4 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -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;
}
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 3ba745217..f19b71add 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -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
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
index 262a8fd6e..839df16dc 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
@@ -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;
diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
index 121ee3c48..df7d740fd 100644
--- a/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
+++ b/src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
@@ -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