diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc index 209779d57..529514c88 100644 --- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc @@ -33,22 +33,27 @@ #include "signal_generator_flags.h" #include "tracking_true_obs_reader.h" #include "true_observables_reader.h" +#include "display.h" #include #include #include DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test."); DEFINE_double(acq_test_threshold, 0.001, "Acquisition threshold"); +DEFINE_double(acq_test_pfa, -1.0, "Set threshold via probability of false alarm"); DEFINE_int32(acq_test_coherent_time_ms, 10, "Acquisition coherent time, in ms"); DEFINE_int32(acq_test_PRN, 1, "PRN number"); +DEFINE_int32(acq_test_fake_PRN, 33, "Fake PRN number"); +DEFINE_int32(acq_test_signal_duration_s, 2, "Generated signal duration"); +DEFINE_bool(acq_test_bit_transition_flag, false, "Bit transition flag"); // ######## GNURADIO BLOCK MESSAGE RECEVER ######### class AcqPerfTest_msg_rx; -// + typedef boost::shared_ptr AcqPerfTest_msg_rx_sptr; -// + AcqPerfTest_msg_rx_sptr AcqPerfTest_msg_rx_make(concurrent_queue& queue); -// + class AcqPerfTest_msg_rx : public gr::block { private: @@ -59,7 +64,7 @@ private: public: int rx_message; - ~AcqPerfTest_msg_rx(); //!< Default destructor + ~AcqPerfTest_msg_rx(); }; @@ -82,7 +87,6 @@ void AcqPerfTest_msg_rx::msg_handler_events(pmt::pmt_t msg) LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; rx_message = 0; } - //std::cout << "Received message:" << rx_message << std::endl; } @@ -134,6 +138,7 @@ protected: void stop_queue(); int run_receiver(); int run_receiver2(); + int count_executions(const std::string& basename, unsigned int sat); void check_results(); concurrent_queue channel_internal_queue; @@ -160,15 +165,15 @@ protected: const int in_acquisition = 1; const float threshold = FLAGS_acq_test_threshold; const int max_dwells = 1; - const int tong_init_val = 2; - const int tong_max_val = 10; - const int tong_max_dwells = 30; + const int dump_channel = 0; - int generated_signal_duration_s = 2; + int generated_signal_duration_s = FLAGS_acq_test_signal_duration_s; unsigned int num_of_realizations = (generated_signal_duration_s * 1000) / FLAGS_acq_test_coherent_time_ms; unsigned int realization_counter; + unsigned int observed_satellite = FLAGS_acq_test_PRN; + private: std::string generator_binary; std::string p1; @@ -196,7 +201,7 @@ void AcquisitionPerformanceTest::init() gnss_synchro.System = 'G'; std::string signal = "1C"; signal.copy(gnss_synchro.Signal, 2, 0); - gnss_synchro.PRN = 1; + gnss_synchro.PRN = observed_satellite; message = 0; realization_counter = 0; } @@ -211,23 +216,13 @@ void AcquisitionPerformanceTest::start_queue() void AcquisitionPerformanceTest::wait_message() { - //std::chrono::time_point start, end; - //std::chrono::duration elapsed_seconds(0); - while (!stop) { acquisition->reset(); acquisition->set_state(1); - //start = std::chrono::system_clock::now(); - channel_internal_queue.wait_and_pop(message); - //end = std::chrono::system_clock::now(); - //elapsed_seconds = end - start; - - //mean_acq_time_us += elapsed_seconds.count() * 1e6; - process_message(); } } @@ -235,38 +230,12 @@ void AcquisitionPerformanceTest::wait_message() void AcquisitionPerformanceTest::process_message() { - if (message == 1) - { - //detection_counter++; - - // The term -5 is here to correct the additional delay introduced by the FIR filter - //double delay_error_chips = std::abs(static_cast(expected_delay_chips) - static_cast(gnss_synchro.Acq_delay_samples - 5) * 1023.0 / (static_cast(fs_in) * 1e-3)); - //double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); - - // mse_delay += std::pow(delay_error_chips, 2); - // mse_doppler += std::pow(doppler_error_hz, 2); - - // if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz)) - // { - // correct_estimation_counter++; - // } - } - realization_counter++; - - std::cout << "Progress: " << round(static_cast(realization_counter) / static_cast(num_of_realizations) * 100.0) << "% \r" << std::flush; + acquisition->reset(); + acquisition->set_state(1); if (realization_counter == num_of_realizations) { - // mse_delay /= num_of_realizations; - // mse_doppler /= num_of_realizations; - - //Pd = static_cast(correct_estimation_counter) / static_cast(num_of_realizations); - //Pfa_a = static_cast(detection_counter) / static_cast(num_of_realizations); - //Pfa_p = static_cast(detection_counter - correct_estimation_counter) / static_cast(num_of_realizations); - - // mean_acq_time_us /= num_of_realizations; - stop_queue(); top_block->stop(); } @@ -414,7 +383,7 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Channels_1C.count", std::to_string(number_of_channels)); config->set_property("Channels.in_acquisition", std::to_string(in_acquisition)); config->set_property("Channel.signal", "1C"); - //config->set_property("Channel0.satellite", std::to_string(FLAGS_acq_test_PRN)); + //config->set_property("Channel1.satellite", std::to_string(FLAGS_acq_test_PRN)); // Set Acquisition config->set_property("Acquisition_1C.implementation", implementation); @@ -423,11 +392,19 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step)); config->set_property("Acquisition_1C.threshold", std::to_string(threshold)); - //config->set_property("Acquisition_1C.pfa", "0.0"); + if (FLAGS_acq_test_pfa > 0.0) config->set_property("Acquisition_1C.pfa", std::to_string(FLAGS_acq_test_pfa)); + config->set_property("Acquisition_1C.use_CFAR_algorithm", "true"); config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms)); - config->set_property("Acquisition_1C.use_bit_transition_flag", "false"); + if (FLAGS_acq_test_bit_transition_flag) + { + config->set_property("Acquisition_1C.bit_transition_flag", "true"); + } + else + { + config->set_property("Acquisition_1C.bit_transition_flag", "false"); + } config->set_property("Acquisition_1C.max_dwells", std::to_string(1)); @@ -437,16 +414,11 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Acquisition_1C.make_two_steps", "false"); config->set_property("Acquisition_1C.second_nbins", std::to_string(4)); config->set_property("Acquisition_1C.second_doppler_step", std::to_string(125)); - //if (FLAGS_plot_acq_grid == true) - // { + config->set_property("Acquisition_1C.dump", "true"); - // } - //else - // { - // config->set_property("Acquisition_1C.dump", "false"); - // } std::string dump_file = std::string("./acquisition_") + std::to_string(cn0) + "_" + std::to_string(iter); config->set_property("Acquisition_1C.dump_filename", dump_file); + config->set_property("Acquisition_1C.dump_channel", std::to_string(dump_channel)); // Set Tracking config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking"); @@ -510,10 +482,8 @@ int AcquisitionPerformanceTest::run_receiver() std::string file = "./" + filename_raw_data; const char* file_name = file.c_str(); gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false); - std::cout << "Source created" << std::endl; gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make(); - std::cout << "Interleaver created" << std::endl; top_block = gr::make_top_block("Acquisition test"); boost::shared_ptr msg_rx = AcqPerfTest_msg_rx_make(channel_internal_queue); @@ -521,10 +491,11 @@ int AcquisitionPerformanceTest::run_receiver() queue = gr::msg_queue::make(0); gnss_synchro = Gnss_Synchro(); init(); - acquisition = std::make_shared(config.get(), "Acquisition_1C", 1, 0); + int nsamples = floor(config->property("GNSS-SDR.internal_fs_sps", 2000000) * generated_signal_duration_s); boost::shared_ptr valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue); + acquisition = std::make_shared(config.get(), "Acquisition_1C", 1, 0); acquisition->set_gnss_synchro(&gnss_synchro); acquisition->set_channel(0); acquisition->set_local_code(); @@ -535,22 +506,19 @@ int AcquisitionPerformanceTest::run_receiver() acquisition->connect(top_block); top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); - acquisition->init(); top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0); top_block->connect(gr_interleaved_char_to_complex, 0, valve, 0); top_block->connect(valve, 0, acquisition->get_left_block(), 0); - std::cout << "Num of realizations: " << num_of_realizations << std::endl; + start_queue(); + start = std::chrono::system_clock::now(); top_block->run(); // Start threads and wait end = std::chrono::system_clock::now(); - //file_source->close(); elapsed_seconds = end - start; - std::cout << "Acq_delay_samples: " << gnss_synchro.Acq_delay_samples << std::endl; - std::cout << "Acq_doppler_hz: " << gnss_synchro.Acq_doppler_hz << std::endl; - std::cout << "Acq_samplestamp_samples: " << gnss_synchro.Acq_samplestamp_samples << std::endl; + #ifdef OLD_BOOST ch_thread.timed_join(boost::posix_time::seconds(1)); #endif @@ -563,6 +531,7 @@ int AcquisitionPerformanceTest::run_receiver() return 0; } + int AcquisitionPerformanceTest::run_receiver2() { std::shared_ptr control_thread; @@ -592,14 +561,34 @@ int AcquisitionPerformanceTest::run_receiver2() } +int AcquisitionPerformanceTest::count_executions(const std::string& basename, unsigned int sat) +{ + FILE* fp; + std::string argum2 = std::string("/bin/ls ") + basename + "* | grep sat_" + std::to_string(sat) + " | wc -l"; + char buffer[1024]; + fp = popen(&argum2[0], "r"); + int num_executions = 1; + if (fp == NULL) + { + std::cout << "Failed to run command: " << argum2 << std::endl; + return 0; + } + while (fgets(buffer, sizeof(buffer), fp) != NULL) + { + std::string aux = std::string(buffer); + EXPECT_EQ(aux.empty(), false); + num_executions = std::stoi(aux); + } + pclose(fp); + return num_executions; +} + + TEST_F(AcquisitionPerformanceTest, PdvsCn0) { - init(); tracking_true_obs_reader true_trk_data; for (std::vector::const_iterator it = cn0_.cbegin(); it != cn0_.cend(); ++it) { - // Set parameter to sweep - // Do N_iterations of the experiment for (unsigned iter = 0; iter < N_iterations; iter++) { @@ -611,232 +600,167 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0) // Generate signal raw signal samples and observations RINEX file generate_signal(); - // Configure the receiver - configure_receiver(*it, iter); - - // remove old files - // FILE* fp2; - // std::string remove_old_files = std::string("/bin/rm ") + basename + "*.mat"; - // fp2 = popen(&remove_old_files[0], "r"); - // pclose(fp2); - - // Run it - run_receiver(); - - // Read and store reference data and results - std::cout << basename << std::endl; - // count executions - FILE* fp; - std::string argum2 = std::string("/bin/ls ") + basename + "* | wc -l"; - char buffer[1024]; - fp = popen(&argum2[0], "r"); - int num_executions = 1; - if (fp == NULL) + std::cout << "Execution for CN0 = " << *it << " dB-Hz" << std::endl; + for (unsigned k = 0; k < 2; k++) { - std::cout << "Failed to run command: " << argum2 << std::endl; - //return -1; - } - while (fgets(buffer, sizeof(buffer), fp) != NULL) - { - std::string aux = std::string(buffer); - EXPECT_EQ(aux.empty(), false); - num_executions = std::stoi(aux); - } - pclose(fp); - int ch = 0; - - arma::vec meas_timestamp_s = arma::zeros(num_executions, 1); - arma::vec meas_doppler = arma::zeros(num_executions, 1); - arma::vec positive_acq = arma::zeros(num_executions, 1); - arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1); - - double coh_time_ms = config->property("Acquisition_1C.coherent_integration_time_ms", 1); - - std::cout << "Num executions: " << std::endl; - for (int execution = 1; execution <= num_executions; execution++) - { - acquisition_dump_reader acq_dump(basename, FLAGS_acq_test_PRN, config->property("Acquisition_1C.doppler_max", 0), config->property("Acquisition_1C.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * GPS_L1_CA_CODE_PERIOD * static_cast(coh_time_ms), ch, execution); - if (!acq_dump.read_binary_acq()) - ; - if (acq_dump.positive_acq) + if (k == 0) { - //std::cout << "Meas acq_delay_samples: " << acq_dump.acq_delay_samples << " chips: " << acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS) << std::endl; - meas_timestamp_s(execution - 1) = acq_dump.sample_counter / baseband_sampling_freq; - meas_doppler(execution - 1) = acq_dump.acq_doppler_hz; - meas_acq_delay_chips(execution - 1) = acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS); - positive_acq(execution - 1) = acq_dump.positive_acq; + observed_satellite = FLAGS_acq_test_PRN; } else { - //std::cout << "Failed acquisition." << std::endl; - meas_timestamp_s(execution - 1) = arma::datum::inf; - meas_doppler(execution - 1) = arma::datum::inf; - meas_acq_delay_chips(execution - 1) = arma::datum::inf; - positive_acq(execution - 1) = acq_dump.positive_acq; + observed_satellite = FLAGS_acq_test_fake_PRN; } - } + init(); - std::string true_trk_file = std::string("./gps_l1_ca_obs_prn"); - true_trk_file.append(std::to_string(FLAGS_acq_test_PRN)); - true_trk_file.append(".dat"); - true_trk_data.close_obs_file(); - true_trk_data.open_obs_file(true_trk_file); + // Configure the receiver + configure_receiver(*it, iter); + // Run it + run_receiver(); - // load the true values - long int n_true_epochs = true_trk_data.num_epochs(); + // count executions + int num_executions = count_executions(basename, observed_satellite); - arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1); - arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1); - arma::vec true_Doppler_Hz = arma::zeros(n_true_epochs, 1); - arma::vec true_prn_delay_chips = arma::zeros(n_true_epochs, 1); - arma::vec true_tow_s = arma::zeros(n_true_epochs, 1); + // Read measured data + int ch = config->property("Acquisition_1C.dump_channel", 0); + arma::vec meas_timestamp_s = arma::zeros(num_executions, 1); + arma::vec meas_doppler = arma::zeros(num_executions, 1); + arma::vec positive_acq = arma::zeros(num_executions, 1); + arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1); - long int epoch_counter = 0; - while (true_trk_data.read_binary_obs()) - { - true_timestamp_s(epoch_counter) = true_trk_data.signal_timestamp_s; - true_acc_carrier_phase_cycles(epoch_counter) = true_trk_data.acc_carrier_phase_cycles; - true_Doppler_Hz(epoch_counter) = true_trk_data.doppler_l1_hz; - true_prn_delay_chips(epoch_counter) = GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips; - true_tow_s(epoch_counter) = true_trk_data.tow; - epoch_counter++; - //std::cout << "True PRN_Delay chips = " << GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips << " at " << true_trk_data.signal_timestamp_s << std::endl; - } - if (epoch_counter > 2) - { - arma::vec true_interpolated_doppler = arma::zeros(num_executions, 1); - arma::vec true_interpolated_prn_delay_chips = arma::zeros(num_executions, 1); - interp1(true_timestamp_s, true_Doppler_Hz, meas_timestamp_s, true_interpolated_doppler); - interp1(true_timestamp_s, true_prn_delay_chips, meas_timestamp_s, true_interpolated_prn_delay_chips); + double coh_time_ms = config->property("Acquisition_1C.coherent_integration_time_ms", 1); - arma::vec doppler_estimation_error = true_interpolated_doppler - meas_doppler; - std::cout << "Doppler estimation error [Hz]: "; - for (int i = 0; i < num_executions - 1; i++) + std::cout << "Num executions: " << num_executions << std::endl; + for (int execution = 1; execution <= num_executions; execution++) { - std::cout << doppler_estimation_error(i) << " "; - } - std::cout << std::endl; - arma::vec delay_estimation_error = true_interpolated_prn_delay_chips - meas_acq_delay_chips; - std::cout << "Delay estimation error [chips]: "; - for (int i = 0; i < num_executions - 1; i++) - { - std::cout << delay_estimation_error(i) << " "; - } - std::cout << std::endl; - - double detected = arma::accu(positive_acq); - std::cout << "Probability of detection for channel=" << ch << ", CN0=" << *it << " dBHz" - << ": " << (num_executions > 0 ? (detected / num_executions) : 0.0) << std::endl; - - arma::vec correct_acq = arma::zeros(num_executions, 1); - double correctly_detected = 0.0; - for (int i = 0; i < num_executions - 1; i++) - - { - if (abs(delay_estimation_error(i)) < 0.5) + acquisition_dump_reader acq_dump(basename, observed_satellite, config->property("Acquisition_1C.doppler_max", 0), config->property("Acquisition_1C.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * GPS_L1_CA_CODE_PERIOD * static_cast(coh_time_ms), ch, execution); + acq_dump.read_binary_acq(); + if (acq_dump.positive_acq) { - correctly_detected = correctly_detected + 1.0; + //std::cout << "Meas acq_delay_samples: " << acq_dump.acq_delay_samples << " chips: " << acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS) << std::endl; + meas_timestamp_s(execution - 1) = acq_dump.sample_counter / baseband_sampling_freq; + meas_doppler(execution - 1) = acq_dump.acq_doppler_hz; + meas_acq_delay_chips(execution - 1) = acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS); + positive_acq(execution - 1) = acq_dump.positive_acq; + } + else + { + //std::cout << "Failed acquisition." << std::endl; + meas_timestamp_s(execution - 1) = arma::datum::inf; + meas_doppler(execution - 1) = arma::datum::inf; + meas_acq_delay_chips(execution - 1) = arma::datum::inf; + positive_acq(execution - 1) = acq_dump.positive_acq; } } - std::cout << "Probability of correct detection for channel=" << ch << ", CN0=" << *it << " dBHz" - << ": " << (num_executions > 0 ? (correctly_detected / num_executions) : 0.0) << std::endl; - } - else - { - std::cout << "No reference data has been found. Maybe a non-present satellite?" << std::endl; - double wrongly_detected = arma::accu(positive_acq); - std::cout << "Probability of false alarm for channel=" << ch << ", CN0=" << *it << " dBHz" - << ": " << (num_executions > 0 ? (wrongly_detected / num_executions) : 0.0) << std::endl; + // Read reference data + std::string true_trk_file = std::string("./gps_l1_ca_obs_prn"); + true_trk_file.append(std::to_string(observed_satellite)); + true_trk_file.append(".dat"); + true_trk_data.close_obs_file(); + true_trk_data.open_obs_file(true_trk_file); + + // load the true values + long int n_true_epochs = true_trk_data.num_epochs(); + arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1); + arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1); + arma::vec true_Doppler_Hz = arma::zeros(n_true_epochs, 1); + arma::vec true_prn_delay_chips = arma::zeros(n_true_epochs, 1); + arma::vec true_tow_s = arma::zeros(n_true_epochs, 1); + + long int epoch_counter = 0; + int num_clean_executions = 0; + while (true_trk_data.read_binary_obs()) + { + true_timestamp_s(epoch_counter) = true_trk_data.signal_timestamp_s; + true_acc_carrier_phase_cycles(epoch_counter) = true_trk_data.acc_carrier_phase_cycles; + true_Doppler_Hz(epoch_counter) = true_trk_data.doppler_l1_hz; + true_prn_delay_chips(epoch_counter) = GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips; + true_tow_s(epoch_counter) = true_trk_data.tow; + epoch_counter++; + //std::cout << "True PRN_Delay chips = " << GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips << " at " << true_trk_data.signal_timestamp_s << std::endl; + } + + // Process results + arma::vec clean_doppler_estimation_error; + arma::vec clean_delay_estimation_error; + if (epoch_counter > 2) + { + arma::vec true_interpolated_doppler = arma::zeros(num_executions, 1); + arma::vec true_interpolated_prn_delay_chips = arma::zeros(num_executions, 1); + interp1(true_timestamp_s, true_Doppler_Hz, meas_timestamp_s, true_interpolated_doppler); + interp1(true_timestamp_s, true_prn_delay_chips, meas_timestamp_s, true_interpolated_prn_delay_chips); + + arma::vec doppler_estimation_error = true_interpolated_doppler - meas_doppler; + arma::vec delay_estimation_error = true_interpolated_prn_delay_chips - (meas_acq_delay_chips - ((1.0 / baseband_sampling_freq) / GPS_L1_CA_CHIP_PERIOD)); // compensate 1 sample delay + + // Cut measurements without reference + for (unsigned int i = 0; i < num_executions; i++) + { + if (!std::isnan(doppler_estimation_error(i)) and !std::isnan(delay_estimation_error(i))) + { + num_clean_executions++; + } + } + clean_doppler_estimation_error = arma::zeros(num_clean_executions, 1); + clean_delay_estimation_error = arma::zeros(num_clean_executions, 1); + num_clean_executions = 0; + for (unsigned int i = 0; i < num_executions; i++) + { + if (!std::isnan(doppler_estimation_error(i)) and !std::isnan(delay_estimation_error(i))) + { + clean_doppler_estimation_error(num_clean_executions) = doppler_estimation_error(i); + clean_delay_estimation_error(num_clean_executions) = delay_estimation_error(i); + num_clean_executions++; + } + } + + std::cout << "Doppler estimation error [Hz]: "; + for (int i = 0; i < num_executions - 1; i++) + { + std::cout << doppler_estimation_error(i) << " "; + } + std::cout << std::endl; + + std::cout << "Delay estimation error [chips]: "; + for (int i = 0; i < num_executions - 1; i++) + { + std::cout << delay_estimation_error(i) << " "; + } + std::cout << std::endl; + + double detected = arma::accu(positive_acq); + std::cout << TEXT_BOLD_BLACK << "Probability of detection for channel=" << ch << ", CN0=" << *it << " dBHz" + << ": " << (num_executions > 0 ? (detected / num_executions) : 0.0) << TEXT_RESET << std::endl; + } + if (num_clean_executions > 0) + { + arma::vec correct_acq = arma::zeros(num_executions, 1); + double correctly_detected = 0.0; + for (int i = 0; i < num_clean_executions - 1; i++) + + { + if (abs(clean_delay_estimation_error(i)) < 0.5 and abs(clean_doppler_estimation_error(i)) < static_cast(config->property("Acquisition_1C.doppler_step", 1)) / 2.0) + { + correctly_detected = correctly_detected + 1.0; + } + } + std::cout << TEXT_BOLD_BLACK << "Probability of correct detection for channel=" << ch << ", CN0=" << *it << " dBHz" + << ": " << (num_clean_executions > 0 ? (correctly_detected / num_clean_executions) : 0.0) << TEXT_RESET << std::endl; + } + else + { + std::cout << "No reference data has been found. Maybe a non-present satellite?" << std::endl; + + double wrongly_detected = arma::accu(positive_acq); + std::cout << TEXT_BOLD_BLACK << "Probability of false alarm for channel=" << ch << ", CN0=" << *it << " dBHz" + << ": " << (num_executions > 0 ? (wrongly_detected / num_executions) : 0.0) << TEXT_RESET << std::endl; + } + true_trk_data.restart(); } - true_trk_data.restart(); } - + true_trk_data.close_obs_file(); // Compute results } } -//TEST_F(AcquisitionPerformanceTest, ValidationOfResults) -//{ -// std::chrono::time_point start, end; -// std::chrono::duration elapsed_seconds(0.0); -// top_block = gr::make_top_block("Acquisition test"); -// -// double expected_delay_samples = 524; -// double expected_doppler_hz = 1680; -// -// init(); -// -// if (FLAGS_plot_acq_grid == true) -// { -// std::string data_str = "./tmp-acq-gps1"; -// if (boost::filesystem::exists(data_str)) -// { -// boost::filesystem::remove_all(data_str); -// } -// boost::filesystem::create_directory(data_str); -// } -// -// std::shared_ptr acquisition = std::make_shared(config.get(), "Acquisition_1C", 1, 0); -// boost::shared_ptr msg_rx = AcqPerfTest_msg_rx_make(); -// -// ASSERT_NO_THROW({ -// acquisition->set_channel(1); -// }) << "Failure setting channel."; -// -// ASSERT_NO_THROW({ -// acquisition->set_gnss_synchro(&gnss_synchro); -// }) << "Failure setting gnss_synchro."; -// -// ASSERT_NO_THROW({ -// acquisition->set_threshold(0.001); -// }) << "Failure setting threshold."; -// -// ASSERT_NO_THROW({ -// acquisition->set_doppler_max(doppler_max); -// }) << "Failure setting doppler_max."; -// -// ASSERT_NO_THROW({ -// acquisition->set_doppler_step(doppler_step); -// }) << "Failure setting doppler_step."; -// -// ASSERT_NO_THROW({ -// acquisition->connect(top_block); -// }) << "Failure connecting acquisition to the top_block."; -// -// ASSERT_NO_THROW({ -// std::string path = std::string(TEST_PATH); -// std::string file = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat"; -// const char* file_name = file.c_str(); -// gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false); -// top_block->connect(file_source, 0, acquisition->get_left_block(), 0); -// top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); -// }) << "Failure connecting the blocks of acquisition test."; -// -// acquisition->set_local_code(); -// acquisition->set_state(1); // Ensure that acquisition starts at the first sample -// acquisition->init(); -// -// EXPECT_NO_THROW({ -// start = std::chrono::system_clock::now(); -// top_block->run(); // Start threads and wait -// end = std::chrono::system_clock::now(); -// elapsed_seconds = end - start; -// }) << "Failure running the top_block."; -// -// unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples; -// std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; -// ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS."; -// -// double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples); -// float delay_error_chips = static_cast(delay_error_samples * 1023 / 4000); -// double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); -// -// EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)"; -// EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips"; -// -// /*if (FLAGS_plot_acq_grid == true) -// { -// plot_grid(); -// }*/ -//}