feat: add multichannel support for ntlab adapter

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.filename=ntlab.bin  ; <- PUT YOUR FILE HERE
-SignalSource.item_type=byte
-SignalSource.big_endian_bytes=false
-SignalSource.sample_type=real
 SignalSource.sampling_frequency=79500000
-SignalSource.samples=0
+SignalSource.sample_type=real
-SignalSource.repeat=false
+SignalSource.item_type=byte
-SignalSource.dump=false
-SignalSource.dump_filename=./signal_source.dat
 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.IF=14580000
-InputFilter0.decimation_factor=2
+InputFilter0.decimation_factor=8
-; CHANNEL 1
+; 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.IF=0
-InputFilter1.decimation_factor=2
+InputFilter1.decimation_factor=8
-; CHANNEL 2
+; 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.IF=23550000
-InputFilter2.decimation_factor=2
+InputFilter2.decimation_factor=8
-; CHANNEL 3
+; 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.IF=27600000
-InputFilter3.decimation_factor=2
+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
-
+Channels_1C.count=8 ;# GPS L1
-Channel0.RF_channel_ID=0
+Channels_L5.count=8 ;# GPS L5
-Channel1.RF_channel_ID=0
+Channels_2S.count=8 ;# GPS L2C
-Channel2.RF_channel_ID=0
+Channels_1B.count=8 ;# Galileo E1b
-Channel3.RF_channel_ID=0
+Channels_5X.count=8 ;# Galileo E5a
-Channel4.RF_channel_ID=0
+Channels_B1.count=8 ;# Beidou B1I
-Channel5.RF_channel_ID=0
+; RF CHANNEL MAPPING
-Channel6.RF_channel_ID=0
+Channels_1C.RF_channel_ID=0
-Channel7.RF_channel_ID=0
+Channels_L5.RF_channel_ID=2
-
+Channels_2S.RF_channel_ID=3
-Channel8.RF_channel_ID=2
+Channels_1B.RF_channel_ID=0
-Channel9.RF_channel_ID=2
+Channels_5X.RF_channel_ID=2
-Channel10.RF_channel_ID=2
+Channels_B1.RF_channel_ID=0
-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
 
 
 ;######### 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 ############

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<pmt::pmt_t>* 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<size_t, bool> MultiChannelTwoBitPackedFileSignalSource::itemTypeToSize()
+std::tuple<size_t, bool> NTLabFileSignalSource::itemTypeToSize()
 {
     auto is_complex_t = false;
     auto item_size = sizeof(char);  // default
@@ -80,23 +84,23 @@ std::tuple<size_t, bool> 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<gr::block> MultiChannelTwoBitPackedFileSignalSource::source() const
+gnss_shared_ptr<gr::block> 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();
 }

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<pmt::pmt_t>* queue);
 
-    ~MultiChannelTwoBitPackedFileSignalSource() = default;
+    ~NTLabFileSignalSource() = default;
 
     gr::basic_block_sptr get_left_block() override;
     gr::basic_block_sptr get_right_block() override;

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
+          SAMPLES_PER_BYTE / nchannels),
-      item_size_(item_size),
       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<signed char const *>(input_items[0]);
+    int const nch = nchannels_;
 
-    float *out[4];
+    std::vector<float *> out(nch);
-    for (int n = 0; n < nchannels_; ++n)
+    for (int ch = 0; ch < nch; ++ch)
         {
-            out[n] = static_cast<float *>(output_items[n]);
+            out[ch] = static_cast<float *>(output_items[ch]);
         }
 
-    const int nbytes = noutput_items;
+    for (int i = 0; i < noutput_items; ++i)
-
-    for (int i = 0; i < nbytes; ++i)
         {
-            // Unpack each of the four 2-bit samples in the byte 'b' into four real-valued outputs.
+            auto b = static_cast<uint8_t>(in[i]);
-            //
+            int j = 0;
-            // The NTLAB format encodes samples as sign+magnitude pairs in each byte:
+            for (int n = 0; n < SAMPLES_PER_BYTE; ++n)
-            //   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<uint8_t>(in[i]);
-            for (int n = 0; n < nchannels_; ++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<float>(val);
+
+                    out[j][i] = static_cast<float>(val);
+
+                    if (++j == nch)  // iterate through each channel
+                        j = 0;
                 }
         }
 
-    return nbytes;
+    return noutput_items;
 }

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<int8_t> work_buffer_;
-    size_t item_size_;
     int nchannels_;
 };
 

src/core/receiver/gnss_block_factory.cc

@@ -323,7 +323,7 @@ std::unique_ptr<SignalSourceInterface> get_signal_source_block(
         }
     else if (implementation == "NTLab_File_Signal_Source")
         {
-            return std::make_unique<MultiChannelTwoBitPackedFileSignalSource>(configuration, role, in_streams, out_streams, queue);
+            return std::make_unique<NTLabFileSignalSource>(configuration, role, in_streams, out_streams, queue);
         }
     else if (implementation == "Spir_File_Signal_Source")
         {