From f1eaf5253ecff81cd53283fdf6384ac948d47f4a Mon Sep 17 00:00:00 2001 From: pedromiguelcp Date: Thu, 10 Jul 2025 23:28:46 +0100 Subject: [PATCH] feat: add multichannel support for ntlab adapter --- conf/File_input/MultiCons/gnss-sdr_ntlab.conf | 182 ++++++++---------- .../adapters/ntlab_file_signal_source.cc | 24 ++- .../adapters/ntlab_file_signal_source.h | 6 +- .../unpack_ntlab_2bit_samples.cc | 40 ++-- .../unpack_ntlab_2bit_samples.h | 15 +- src/core/receiver/gnss_block_factory.cc | 2 +- 6 files changed, 127 insertions(+), 142 deletions(-) diff --git a/conf/File_input/MultiCons/gnss-sdr_ntlab.conf b/conf/File_input/MultiCons/gnss-sdr_ntlab.conf index d3366e704..c549d4d53 100644 --- a/conf/File_input/MultiCons/gnss-sdr_ntlab.conf +++ b/conf/File_input/MultiCons/gnss-sdr_ntlab.conf @@ -10,7 +10,7 @@ [GNSS-SDR] ;######### GLOBAL OPTIONS ################## -GNSS-SDR.internal_fs_sps=39750000 +GNSS-SDR.internal_fs_sps=9937500 GNSS-SDR.telecommand_enabled=true GNSS-SDR.telecommand_tcp_port=3333 GNSS-SDR.osnma_enable=false @@ -33,41 +33,44 @@ GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=NTLab_File_Signal_Source -SignalSource.filename=./ntlab.bin ; <- PUT YOUR FILE HERE -SignalSource.item_type=byte -SignalSource.big_endian_bytes=false -SignalSource.sample_type=real +SignalSource.filename=ntlab.bin ; <- PUT YOUR FILE HERE SignalSource.sampling_frequency=79500000 -SignalSource.samples=0 -SignalSource.repeat=false -SignalSource.dump=false -SignalSource.dump_filename=./signal_source.dat +SignalSource.sample_type=real +SignalSource.item_type=byte SignalSource.RF_channels=4 -SignalSource.enable_throttle_control=false +SignalSource.dump=false ;######### SIGNAL_CONDITIONER CONFIG ############ +; RF CHANNEL 0 SignalConditioner0.implementation=Signal_Conditioner +; RF CHANNEL 1 SignalConditioner1.implementation=Signal_Conditioner +; RF CHANNEL 2 SignalConditioner2.implementation=Signal_Conditioner +; RF CHANNEL 3 SignalConditioner3.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ +; RF CHANNEL 0 DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=float DataTypeAdapter0.inverted_spectrum=true +; RF CHANNEL 1 DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=float +; RF CHANNEL 2 DataTypeAdapter2.implementation=Pass_Through DataTypeAdapter2.item_type=float DataTypeAdapter2.inverted_spectrum=true +; RF CHANNEL 3 DataTypeAdapter3.implementation=Pass_Through DataTypeAdapter3.item_type=float ;######### INPUT_FILTER CONFIG ############ -; CHANNEL 0 +; RF CHANNEL 0 InputFilter0.implementation=Freq_Xlating_Fir_Filter InputFilter0.dump=false InputFilter0.input_item_type=float @@ -88,9 +91,9 @@ InputFilter0.band2_error=1.0 InputFilter0.filter_type=bandpass InputFilter0.grid_density=16 InputFilter0.sampling_frequency=79500000 -InputFilter0.IF=-14580000 -InputFilter0.decimation_factor=2 -; CHANNEL 1 +InputFilter0.IF=14580000 +InputFilter0.decimation_factor=8 +; RF CHANNEL 1 InputFilter1.implementation=Freq_Xlating_Fir_Filter InputFilter1.dump=false InputFilter1.input_item_type=float @@ -111,9 +114,9 @@ InputFilter1.band2_error=1.0 InputFilter1.filter_type=bandpass InputFilter1.grid_density=16 InputFilter1.sampling_frequency=79500000 -InputFilter1.IF=-14580000 -InputFilter1.decimation_factor=2 -; CHANNEL 2 +InputFilter1.IF=0 +InputFilter1.decimation_factor=8 +; RF CHANNEL 2 InputFilter2.implementation=Freq_Xlating_Fir_Filter InputFilter2.dump=false InputFilter2.input_item_type=float @@ -134,9 +137,9 @@ InputFilter2.band2_error=1.0 InputFilter2.filter_type=bandpass InputFilter2.grid_density=16 InputFilter2.sampling_frequency=79500000 -InputFilter2.IF=-23550000 -InputFilter2.decimation_factor=2 -; CHANNEL 3 +InputFilter2.IF=23550000 +InputFilter2.decimation_factor=8 +; RF CHANNEL 3 InputFilter3.implementation=Freq_Xlating_Fir_Filter InputFilter3.dump=false InputFilter3.input_item_type=float @@ -157,108 +160,49 @@ InputFilter3.band2_error=1.0 InputFilter3.filter_type=bandpass InputFilter3.grid_density=16 InputFilter3.sampling_frequency=79500000 -InputFilter3.IF=-2355000000 -InputFilter3.decimation_factor=2 +InputFilter3.IF=27600000 +InputFilter3.decimation_factor=8 ;######### RESAMPLER CONFIG ############ +; RF CHANNEL 0 Resampler0.implementation=Pass_Through Resampler0.item_type=gr_complex +; RF CHANNEL 1 Resampler1.implementation=Pass_Through Resampler1.item_type=gr_complex +; RF CHANNEL 2 Resampler2.implementation=Pass_Through Resampler2.item_type=gr_complex +; RF CHANNEL 3 Resampler3.implementation=Pass_Through Resampler3.item_type=gr_complex ;######### CHANNELS GLOBAL CONFIG ############ -Channels_1C.count=8 -Channels_1B.count=8 -Channels_5X.count=8 -Channels_L5.count=8 Channels.in_acquisition=1 - -Channel0.RF_channel_ID=0 -Channel1.RF_channel_ID=0 -Channel2.RF_channel_ID=0 -Channel3.RF_channel_ID=0 -Channel4.RF_channel_ID=0 -Channel5.RF_channel_ID=0 -Channel6.RF_channel_ID=0 -Channel7.RF_channel_ID=0 - -Channel8.RF_channel_ID=2 -Channel9.RF_channel_ID=2 -Channel10.RF_channel_ID=2 -Channel11.RF_channel_ID=2 -Channel12.RF_channel_ID=2 -Channel13.RF_channel_ID=2 -Channel14.RF_channel_ID=2 -Channel15.RF_channel_ID=2 - -Channel16.RF_channel_ID=0 -Channel17.RF_channel_ID=0 -Channel18.RF_channel_ID=0 -Channel19.RF_channel_ID=0 -Channel20.RF_channel_ID=0 -Channel21.RF_channel_ID=0 -Channel22.RF_channel_ID=0 -Channel23.RF_channel_ID=0 - -Channel24.RF_channel_ID=2 -Channel25.RF_channel_ID=2 -Channel26.RF_channel_ID=2 -Channel27.RF_channel_ID=2 -Channel28.RF_channel_ID=2 -Channel29.RF_channel_ID=2 -Channel30.RF_channel_ID=2 -Channel31.RF_channel_ID=2 - -;Channel0.signal=1C -;Channel1.signal=1C -;Channel2.signal=1C -;Channel3.signal=1C -;Channel4.signal=1C -;Channel5.signal=1C -;Channel6.signal=1C -;Channel7.signal=1C -; -;Channel8.signal=L5 -;Channel9.signal=L5 -;Channel10.signal=L5 -;Channel11.signal=L5 -;Channel12.signal=L5 -;Channel13.signal=L5 -;Channel14.signal=L5 -;Channel15.signal=L5 -; -;Channel16.signal=1B -;Channel17.signal=1B -;Channel18.signal=1B -;Channel19.signal=1B -;Channel20.signal=1B -;Channel21.signal=1B -;Channel22.signal=1B -;Channel23.signal=1B -; -;Channel24.signal=5X -;Channel25.signal=5X -;Channel26.signal=5X -;Channel27.signal=5X -;Channel28.signal=5X -;Channel29.signal=5X -;Channel30.signal=5X -;Channel31.signal=5X +Channels_1C.count=8 ;# GPS L1 +Channels_L5.count=8 ;# GPS L5 +Channels_2S.count=8 ;# GPS L2C +Channels_1B.count=8 ;# Galileo E1b +Channels_5X.count=8 ;# Galileo E5a +Channels_B1.count=8 ;# Beidou B1I +; RF CHANNEL MAPPING +Channels_1C.RF_channel_ID=0 +Channels_L5.RF_channel_ID=2 +Channels_2S.RF_channel_ID=3 +Channels_1B.RF_channel_ID=0 +Channels_5X.RF_channel_ID=2 +Channels_B1.RF_channel_ID=0 ;######### ACQUISITION CONFIG ############ ;# GPS L1 Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_L5.threshold=2 +Acquisition_1C.threshold=2 Acquisition_1C.doppler_max=5000 -Acquisition_1C.doppler_step=500 +Acquisition_1C.doppler_step=125 Acquisition_1C.dump=false Acquisition_1C.dump_filename=./acq_dump.dat ;# GPS L5 @@ -268,6 +212,13 @@ Acquisition_L5.threshold=2 Acquisition_L5.doppler_max=5000 Acquisition_L5.doppler_step=125 Acquisition_L5.dump=false +;# GPS L2C +Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition +Acquisition_2S.item_type=gr_complex +Acquisition_2S.threshold=2 +Acquisition_2S.doppler_max=5000 +Acquisition_2S.doppler_step=150 +Acquisition_2S.dump=false ;# Galileo E1b Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition Acquisition_1B.item_type=gr_complex @@ -282,6 +233,13 @@ Acquisition_5X.threshold=2 Acquisition_5X.doppler_max=5000 Acquisition_5X.doppler_step=125 Acquisition_5X.dump=false +;# Beidou B1 +Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition +Acquisition_B1.item_type=gr_complex +Acquisition_B1.threshold=2 +Acquisition_B1.doppler_max=5000 +Acquisition_B1.doppler_step=150 +Acquisition_B1.dump=false ;######### TRACKING CONFIG ############ @@ -289,12 +247,17 @@ Acquisition_5X.dump=false Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.dump=false -Tracking_1C.dump_filename=./epl_tracking_ch_ +Tracking_1C.dump_mat=false ;# GPS L5 Tracking_L5.implementation=GPS_L5_DLL_PLL_Tracking Tracking_L5.item_type=gr_complex Tracking_L5.dump=false Tracking_L5.dump_mat=false +;# GPS L2C +Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking +Tracking_2S.item_type=gr_complex +Tracking_2S.dump=false +Tracking_2S.dump_mat=false ;# Galileo E1b Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.item_type=gr_complex @@ -305,21 +268,38 @@ Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.item_type=gr_complex Tracking_5X.dump=false Tracking_5X.dump_mat=false +;# Beidou B1 +Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking +Tracking_B1.item_type=gr_complex +Tracking_B1.dump=false +Tracking_B1.dump_mat=false ;######### TELEMETRY DECODER CONFIG ############ +;# GPS L1 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump_mat=false +;# GPS L5 TelemetryDecoder_L5.implementation=GPS_L5_Telemetry_Decoder TelemetryDecoder_L5.dump=false TelemetryDecoder_L5.dump_mat=false +;# GPS L2C +TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder +TelemetryDecoder_2S.dump=false +TelemetryDecoder_2S.dump_mat=false +;# Galileo E1b TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump_mat=false +;# Galileo E5a TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.dump=false TelemetryDecoder_5X.dump_mat=false +;# Beidou B1 +TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder +TelemetryDecoder_B1.dump=false +TelemetryDecoder_B1.dump_mat=false ;######### OBSERVABLES CONFIG ############ diff --git a/src/algorithms/signal_source/adapters/ntlab_file_signal_source.cc b/src/algorithms/signal_source/adapters/ntlab_file_signal_source.cc index 64adb286e..c547c8703 100644 --- a/src/algorithms/signal_source/adapters/ntlab_file_signal_source.cc +++ b/src/algorithms/signal_source/adapters/ntlab_file_signal_source.cc @@ -28,13 +28,13 @@ using namespace std::string_literals; -MultiChannelTwoBitPackedFileSignalSource::MultiChannelTwoBitPackedFileSignalSource( +NTLabFileSignalSource::NTLabFileSignalSource( const ConfigurationInterface* configuration, const std::string& role, unsigned int in_streams, unsigned int out_streams, Concurrent_Queue* queue) - : FileSourceBase(configuration, role, "ntlab_file_signal_source"s, queue, "byte"s), + : FileSourceBase(configuration, role, "NTLab_File_Signal_Source"s, queue, "byte"s), sample_type_(configuration->property(role + ".sample_type", "real"s)) { int default_n_channlels_ = 4; @@ -43,6 +43,10 @@ MultiChannelTwoBitPackedFileSignalSource::MultiChannelTwoBitPackedFileSignalSour { n_channels_ = configuration->property(role + ".RF_channels", default_n_channlels_); } + if ((n_channels_ != 1) && (n_channels_ != 2) && (n_channels_ != 4)) + { + LOG(ERROR) << "Number of channels must be 1, 2 or 4 (got " << n_channels_ << ")"; + } if (in_streams > 0) { @@ -54,7 +58,7 @@ MultiChannelTwoBitPackedFileSignalSource::MultiChannelTwoBitPackedFileSignalSour } } -std::tuple MultiChannelTwoBitPackedFileSignalSource::itemTypeToSize() +std::tuple NTLabFileSignalSource::itemTypeToSize() { auto is_complex_t = false; auto item_size = sizeof(char); // default @@ -80,23 +84,23 @@ std::tuple MultiChannelTwoBitPackedFileSignalSource::itemTypeToSiz return std::make_tuple(item_size, is_complex_t); } -double MultiChannelTwoBitPackedFileSignalSource::packetsPerSample() const +double NTLabFileSignalSource::packetsPerSample() const { return 1.0; } -gnss_shared_ptr MultiChannelTwoBitPackedFileSignalSource::source() const +gnss_shared_ptr NTLabFileSignalSource::source() const { return unpack_samples_; } -void MultiChannelTwoBitPackedFileSignalSource::create_file_source_hook() +void NTLabFileSignalSource::create_file_source_hook() { unpack_samples_ = make_unpack_ntlab_2bit_samples(item_size(), n_channels_); DLOG(INFO) << "unpack_byte_2bit_samples(" << unpack_samples_->unique_id() << ")"; } -void MultiChannelTwoBitPackedFileSignalSource::pre_connect_hook(gr::top_block_sptr top_block) +void NTLabFileSignalSource::pre_connect_hook(gr::top_block_sptr top_block) { top_block->connect(file_source(), 0, unpack_samples_, 0); DLOG(INFO) << "connected file source to samples unpacker"; @@ -108,7 +112,7 @@ void MultiChannelTwoBitPackedFileSignalSource::pre_connect_hook(gr::top_block_sp } } -void MultiChannelTwoBitPackedFileSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block) +void NTLabFileSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block) { top_block->disconnect(file_source(), 0, unpack_samples_, 0); DLOG(INFO) << "disconnected file source of samples unpacker"; @@ -120,13 +124,13 @@ void MultiChannelTwoBitPackedFileSignalSource::pre_disconnect_hook(gr::top_block } } -gr::basic_block_sptr MultiChannelTwoBitPackedFileSignalSource::get_left_block() +gr::basic_block_sptr NTLabFileSignalSource::get_left_block() { LOG(WARNING) << "Left block of a signal source should not be retrieved"; return gr::block_sptr(); } -gr::basic_block_sptr MultiChannelTwoBitPackedFileSignalSource::get_right_block() +gr::basic_block_sptr NTLabFileSignalSource::get_right_block() { return valve(); } diff --git a/src/algorithms/signal_source/adapters/ntlab_file_signal_source.h b/src/algorithms/signal_source/adapters/ntlab_file_signal_source.h index aab8c80ff..27607f48e 100644 --- a/src/algorithms/signal_source/adapters/ntlab_file_signal_source.h +++ b/src/algorithms/signal_source/adapters/ntlab_file_signal_source.h @@ -40,14 +40,14 @@ class ConfigurationInterface; * \brief Class that reads signals samples from a file * and adapts it to a SignalSourceInterface */ -class MultiChannelTwoBitPackedFileSignalSource : public FileSourceBase +class NTLabFileSignalSource : public FileSourceBase { public: - MultiChannelTwoBitPackedFileSignalSource(const ConfigurationInterface* configuration, + NTLabFileSignalSource(const ConfigurationInterface* configuration, const std::string& role, unsigned int in_streams, unsigned int out_streams, Concurrent_Queue* queue); - ~MultiChannelTwoBitPackedFileSignalSource() = default; + ~NTLabFileSignalSource() = default; gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_right_block() override; diff --git a/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.cc b/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.cc index 77e7d3044..877f659fd 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.cc +++ b/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.cc @@ -35,8 +35,7 @@ unpack_ntlab_2bit_samples::unpack_ntlab_2bit_samples(size_t item_size, : sync_interpolator("unpack_ntlab_2bit_samples", gr::io_signature::make(1, 1, item_size), gr::io_signature::make(nchannels, nchannels, sizeof(float)), - 1), // we make 4 floats out for every byte in - item_size_(item_size), + SAMPLES_PER_BYTE / nchannels), nchannels_(nchannels) { } @@ -47,41 +46,32 @@ int unpack_ntlab_2bit_samples::work(int noutput_items, gr_vector_void_star &output_items) { auto const *in = reinterpret_cast(input_items[0]); + int const nch = nchannels_; - float *out[4]; - for (int n = 0; n < nchannels_; ++n) + std::vector out(nch); + for (int ch = 0; ch < nch; ++ch) { - out[n] = static_cast(output_items[n]); + out[ch] = static_cast(output_items[ch]); } - const int nbytes = noutput_items; - - for (int i = 0; i < nbytes; ++i) + for (int i = 0; i < noutput_items; ++i) { - // Unpack each of the four 2-bit samples in the byte 'b' into four real-valued outputs. - // - // The NTLAB format encodes samples as sign+magnitude pairs in each byte: - // bits 7-6 = [M0 S0] -> sample 0 - // bits 5-4 = [M1 S1] -> sample 1 - // bits 3-2 = [M2 S2] -> sample 2 - // bits 1-0 = [M3 S3] -> sample 3 - // - // Here we loop over channel index n = 0...3, compute the bit shift to extract - // the two bits for that channel (shift = 6,4,2,0), then: - // - M = magnitude bit (1->|sample|=3, 0->|sample|=1) - // - S = sign bit (1->positive, 0->negative) - // We reconstruct the signed sample value (+/-1 or +/-3) and store it in out[n][i]. - uint8_t b = static_cast(in[i]); - for (int n = 0; n < nchannels_; ++n) + auto b = static_cast(in[i]); + int j = 0; + for (int n = 0; n < SAMPLES_PER_BYTE; ++n) { int shift = 2 * (3 - n); // 6, 4, 2, 0 int M = (b >> (shift + 1)) & 0x1; // magnitude bit int S = (b >> shift) & 0x1; // sign bit int mag = M ? 3 : 1; int val = S ? +mag : -mag; - out[n][i] = static_cast(val); + + out[j][i] = static_cast(val); + + if (++j == nch) // iterate through each channel + j = 0; } } - return nbytes; + return noutput_items; } diff --git a/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.h b/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.h index 60f252057..ab7d492ff 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.h +++ b/src/algorithms/signal_source/gnuradio_blocks/unpack_ntlab_2bit_samples.h @@ -41,6 +41,17 @@ unpack_ntlab_2bit_samples_sptr make_unpack_ntlab_2bit_samples( /*! * \brief This class implements conversion between byte packet multichannel samples * to 2bit samples 1 byte = 4 2bit samples + * + * Unpack each of the four 2-bit samples in the byte 'b' into four real-valued outputs. + * + * The NTLAB format encodes samples as sign+magnitude pairs in each byte: + * bits 7-6 = [M0 S0] -> sample 0 + * bits 5-4 = [M1 S1] -> sample 1 + * bits 3-2 = [M2 S2] -> sample 2 + * bits 1-0 = [M3 S3] -> sample 3 + * + * M = magnitude bit (1->|sample|=3, 0->|sample|=1) + * S = sign bit (1->positive, 0->negative) */ class unpack_ntlab_2bit_samples : public gr::sync_interpolator { @@ -55,12 +66,12 @@ public: gr_vector_void_star &output_items); private: + static constexpr int SAMPLES_PER_BYTE = 4; + friend unpack_ntlab_2bit_samples_sptr make_unpack_ntlab_2bit_samples_sptr( size_t item_size, int nchannels); - std::vector work_buffer_; - size_t item_size_; int nchannels_; }; diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index d28a1f0e8..2fbe8d1c4 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -323,7 +323,7 @@ std::unique_ptr get_signal_source_block( } else if (implementation == "NTLab_File_Signal_Source") { - return std::make_unique(configuration, role, in_streams, out_streams, queue); + return std::make_unique(configuration, role, in_streams, out_streams, queue); } else if (implementation == "Spir_File_Signal_Source") {