mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-04-05 02:07:02 +00:00
Fix execution of extra tests in some environments
and some code cleaning
This commit is contained in:
Carles Fernandez
parent
0db1ecce32
commit
f8adffe5c2
@ -279,7 +279,7 @@ if(ENABLE_UNIT_TESTING)
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signal_generator_blocks
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signal_generator_adapters
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pvt_gr_blocks
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signak_processing_testing_lib
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signal_processing_testing_lib
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${VOLK_GNSSSDR_LIBRARIES}
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${GNSS_SDR_TEST_OPTIONAL_LIBS}
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)
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@ -53,14 +53,6 @@
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#include "signal_generator_flags.h"
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DECLARE_string(generator_binary);
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DECLARE_string(rinex_nav_file);
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DECLARE_int32(duration);
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DECLARE_string(static_position);
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DECLARE_string(dynamic_position);
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DECLARE_string(filename_rinex_obs);
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DECLARE_string(filename_raw_data);
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// For GPS NAVIGATION (L1)
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concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
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concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
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@ -32,6 +32,6 @@ include_directories(
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file(GLOB SIGNAL_PROCESSING_TESTING_LIB_HEADERS "*.h")
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list(SORT SIGNAL_PROCESSING_TESTING_LIB_HEADERS)
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add_library(signak_processing_testing_lib ${SIGNAL_PROCESSING_TESTING_LIB_SOURCES} ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS})
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add_library(signal_processing_testing_lib ${SIGNAL_PROCESSING_TESTING_LIB_SOURCES} ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS})
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source_group(Headers FILES ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS})
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@ -63,12 +63,12 @@ long int tlm_dump_reader::num_epochs()
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{
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std::ifstream::pos_type size;
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int number_of_vars_in_epoch = 3;
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int epoch_size_bytes = sizeof(double)*number_of_vars_in_epoch;
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int epoch_size_bytes = sizeof(double) * number_of_vars_in_epoch;
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std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
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if (tmpfile.is_open())
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{
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size = tmpfile.tellg();
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long int nepoch=size / epoch_size_bytes;
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long int nepoch = size / epoch_size_bytes;
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return nepoch;
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}
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else
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@ -86,12 +86,12 @@ bool tlm_dump_reader::open_obs_file(std::string out_file)
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d_dump_filename=out_file;
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d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
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d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
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std::cout << "TLM dump enabled, Log file: " << d_dump_filename.c_str()<< std::endl;
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std::cout << "TLM dump enabled, Log file: " << d_dump_filename.c_str() << std::endl;
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return true;
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}
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catch (const std::ifstream::failure & e)
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{
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std::cout << "Problem opening TLM dump Log file: " << d_dump_filename.c_str()<< std::endl;
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std::cout << "Problem opening TLM dump Log file: " << d_dump_filename.c_str() << std::endl;
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return false;
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}
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}
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@ -28,16 +28,16 @@
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_tlm_dump_reader_H
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#define GNSS_SDR_tlm_dump_reader_H
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#ifndef GNSS_SDR_TLM_DUMP_READER_H
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#define GNSS_SDR_TLM_DUMP_READER_H
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <vector>
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class tlm_dump_reader {
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class tlm_dump_reader
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{
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public:
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~tlm_dump_reader();
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bool read_binary_obs();
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@ -51,10 +51,8 @@ public:
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double d_TOW_at_Preamble;
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private:
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std::string d_dump_filename;
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std::ifstream d_dump_file;
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};
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#endif //GNSS_SDR_tlm_dump_reader_H
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#endif //GNSS_SDR_TLM_DUMP_READER_H
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@ -78,8 +78,8 @@ bool tracking_dump_reader::restart()
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long int tracking_dump_reader::num_epochs()
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{
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std::ifstream::pos_type size;
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int number_of_double_vars=11;
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int number_of_float_vars=5;
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int number_of_double_vars = 11;
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int number_of_float_vars = 5;
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int epoch_size_bytes=sizeof(unsigned long int) +
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sizeof(double) * number_of_double_vars +
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sizeof(float) * number_of_float_vars;
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@ -113,8 +113,10 @@ bool tracking_dump_reader::open_obs_file(std::string out_file)
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std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str() << std::endl;
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return false;
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}
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}else{
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return false;
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}
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else
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{
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return false;
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}
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}
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@ -28,16 +28,16 @@
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_tracking_dump_reader_H
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#define GNSS_SDR_tracking_dump_reader_H
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#ifndef GNSS_SDR_TRACKING_DUMP_READER_H
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#define GNSS_SDR_TRACKING_DUMP_READER_H
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <vector>
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class tracking_dump_reader {
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class tracking_dump_reader
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{
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public:
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~tracking_dump_reader();
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bool read_binary_obs();
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@ -80,10 +80,8 @@ public:
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double aux2;
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private:
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std::string d_dump_filename;
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std::ifstream d_dump_file;
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};
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#endif //GNSS_SDR_tracking_dump_reader_H
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#endif //GNSS_SDR_TRACKING_DUMP_READER_H
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@ -28,16 +28,16 @@
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_tracking_true_obs_reader_H
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#define GNSS_SDR_tracking_true_obs_reader_H
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#ifndef GNSS_SDR_TRACKING_TRUE_OBS_READER_H
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#define GNSS_SDR_TRACKING_TRUE_OBS_READER_H
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#include <iostream>
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#include <fstream>
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#include <string>
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#include <vector>
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class tracking_true_obs_reader {
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class tracking_true_obs_reader
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{
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public:
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~tracking_true_obs_reader();
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bool read_binary_obs();
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@ -53,10 +53,8 @@ public:
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double tow;
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private:
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std::string d_dump_filename;
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std::ifstream d_dump_file;
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};
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#endif //GNSS_SDR_tracking_true_obs_reader_H
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#endif //GNSS_SDR_RACKING_TRUE_OBS_READER_H
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@ -44,7 +44,6 @@
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/analog/sig_source_c.h>
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#include <gnuradio/msg_queue.h>
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#include <gnuradio/blocks/interleaved_char_to_complex.h>
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#include <gnuradio/blocks/null_sink.h>
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#include <gnuradio/blocks/skiphead.h>
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@ -64,15 +63,6 @@
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#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
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#include "signal_generator_flags.h"
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DECLARE_string(generator_binary);
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DECLARE_string(rinex_nav_file);
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DECLARE_int32(duration); // 20
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DECLARE_int32(fs_gen_hz);
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DECLARE_string(static_position);
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DECLARE_string(dynamic_position);
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DECLARE_string(filename_rinex_obs);
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DECLARE_string(filename_raw_data);
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DECLARE_int32(test_satellite_PRN);
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// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
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class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
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@ -218,7 +208,6 @@ public:
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void configure_receiver();
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gr::msg_queue::sptr queue;
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gr::top_block_sptr top_block;
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std::shared_ptr<GNSSBlockFactory> factory;
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std::shared_ptr<InMemoryConfiguration> config;
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@ -302,34 +291,33 @@ void GpsL1CATelemetryDecoderTest::check_results(arma::vec true_time_s,
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//1. True value interpolation to match the measurement times
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arma::vec true_value_interp;
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arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
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arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
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//2. RMSE
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arma::vec err;
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err=meas_value-true_value_interp;
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arma::vec err2=arma::square(err);
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double rmse=sqrt(arma::mean(err2));
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err = meas_value - true_value_interp;
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arma::vec err2 = arma::square(err);
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double rmse = sqrt(arma::mean(err2));
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//3. Mean err and variance
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double error_mean=arma::mean(err);
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double error_var=arma::var(err);
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double error_mean = arma::mean(err);
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double error_var = arma::var(err);
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// 4. Peaks
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double max_error=arma::max(err);
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double min_error=arma::min(err);
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double max_error = arma::max(err);
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double min_error = arma::min(err);
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//5. report
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std::cout<< std::setprecision(10)<<"TLM TOW RMSE="
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<<rmse<<", mean="<<error_mean
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<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Chips]"<<std::endl;
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std::cout << std::setprecision(10) << "TLM TOW RMSE="
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<< rmse << ", mean=" << error_mean
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<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
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}
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TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
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{
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// Configure the signal generator
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configure_generator();
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@ -345,19 +333,17 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
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//open true observables log file written by the simulator
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tracking_true_obs_reader true_obs_data;
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int test_satellite_PRN = FLAGS_test_satellite_PRN;
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std::cout<<"Testing satellite PRN="<<test_satellite_PRN<<std::endl;
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std::string true_obs_file=std::string("./gps_l1_ca_obs_prn");
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std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
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std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
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true_obs_file.append(std::to_string(test_satellite_PRN));
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true_obs_file.append(".dat");
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ASSERT_NO_THROW({
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if (true_obs_data.open_obs_file(true_obs_file)==false)
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if (true_obs_data.open_obs_file(true_obs_file) == false)
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{
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throw std::exception();
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};
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})<< "Failure opening true observables file" << std::endl;
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}) << "Failure opening true observables file" << std::endl;
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queue = gr::msg_queue::make(0);
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top_block = gr::make_top_block("Telemetry_Decoder test");
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std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
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//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
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@ -366,7 +352,7 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
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// load acquisition data based on the first epoch of the true observations
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ASSERT_NO_THROW({
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if (true_obs_data.read_binary_obs()==false)
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if (true_obs_data.read_binary_obs() == false)
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{
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throw std::exception();
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};
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@ -375,8 +361,8 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
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//restart the epoch counter
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true_obs_data.restart();
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std::cout<<"Initial Doppler [Hz]="<<true_obs_data.doppler_l1_hz<<" Initial code delay [Chips]="<<true_obs_data.prn_delay_chips<<std::endl;
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gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS-true_obs_data.prn_delay_chips/GPS_L1_CA_CODE_LENGTH_CHIPS)*baseband_sampling_freq*GPS_L1_CA_CODE_PERIOD;
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std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips <<s td::endl;
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gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chip s/ GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
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gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
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gnss_synchro.Acq_samplestamp_samples = 0;
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@ -414,68 +400,66 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
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EXPECT_NO_THROW( {
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gettimeofday(&tv, NULL);
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begin = tv.tv_sec *1000000 + tv.tv_usec;
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begin = tv.tv_sec * 1000000 + tv.tv_usec;
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top_block->run(); // Start threads and wait
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gettimeofday(&tv, NULL);
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end = tv.tv_sec *1000000 + tv.tv_usec;
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end = tv.tv_sec * 1000000 + tv.tv_usec;
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}) << "Failure running the top_block." << std::endl;
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//check results
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//load the true values
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long int nepoch =true_obs_data.num_epochs();
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std::cout<<"True observation epochs="<<nepoch<<std::endl;
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long int nepoch = true_obs_data.num_epochs();
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std::cout << "True observation epochs=" << nepoch << std::endl;
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arma::vec true_timestamp_s=arma::zeros(nepoch,1);
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arma::vec true_acc_carrier_phase_cycles=arma::zeros(nepoch,1);
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arma::vec true_Doppler_Hz=arma::zeros(nepoch,1);
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arma::vec true_prn_delay_chips=arma::zeros(nepoch,1);
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arma::vec true_tow_s=arma::zeros(nepoch,1);
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arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
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arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
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arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
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arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
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arma::vec true_tow_s = arma::zeros(nepoch, 1);
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long int epoch_counter=0;
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long int epoch_counter = 0;
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while(true_obs_data.read_binary_obs())
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{
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true_timestamp_s(epoch_counter)=true_obs_data.signal_timestamp_s;
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true_acc_carrier_phase_cycles(epoch_counter)=true_obs_data.acc_carrier_phase_cycles;
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true_Doppler_Hz(epoch_counter)=true_obs_data.doppler_l1_hz;
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true_prn_delay_chips(epoch_counter)=true_obs_data.prn_delay_chips;
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true_tow_s(epoch_counter)=true_obs_data.tow;
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true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
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true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
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true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
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true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
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true_tow_s(epoch_counter) = true_obs_data.tow;
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epoch_counter++;
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}
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//load the measured values
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tlm_dump_reader tlm_dump;
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ASSERT_NO_THROW({
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if (tlm_dump.open_obs_file(std::string("./telemetry0.dat"))==false)
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if (tlm_dump.open_obs_file(std::string("./telemetry0.dat")) == false)
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{
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throw std::exception();
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};
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})<< "Failure opening telemetry dump file" << std::endl;
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}) << "Failure opening telemetry dump file" << std::endl;
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nepoch =tlm_dump.num_epochs();
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std::cout<<"Measured observation epochs="<<nepoch<<std::endl;
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nepoch = tlm_dump.num_epochs();
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std::cout << "Measured observation epochs=" << nepoch << std::endl;
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arma::vec tlm_timestamp_s=arma::zeros(nepoch,1);
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arma::vec tlm_TOW_at_Preamble=arma::zeros(nepoch,1);
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arma::vec tlm_tow_s=arma::zeros(nepoch,1);
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arma::vec tlm_timestamp_s = arma::zeros(nepoch, 1);
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arma::vec tlm_TOW_at_Preamble = arma::zeros(nepoch, 1);
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arma::vec tlm_tow_s = arma::zeros(nepoch, 1);
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epoch_counter=0;
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epoch_counter = 0;
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while(tlm_dump.read_binary_obs())
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{
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tlm_timestamp_s(epoch_counter)=tlm_dump.Prn_timestamp_ms/1000.0;
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tlm_TOW_at_Preamble(epoch_counter)=tlm_dump.d_TOW_at_Preamble;
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tlm_tow_s(epoch_counter)=tlm_dump.TOW_at_current_symbol;
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tlm_timestamp_s(epoch_counter) = tlm_dump.Prn_timestamp_ms / 1000.0;
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tlm_TOW_at_Preamble(epoch_counter) = tlm_dump.d_TOW_at_Preamble;
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tlm_tow_s(epoch_counter) = tlm_dump.TOW_at_current_symbol;
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epoch_counter++;
|
||||
|
||||
}
|
||||
|
||||
//Cut measurement initial transitory of the measurements
|
||||
arma::uvec initial_meas_point = arma::find(tlm_tow_s >= true_tow_s(0), 1, "first");
|
||||
|
||||
tlm_timestamp_s=tlm_timestamp_s.subvec(initial_meas_point(0),tlm_timestamp_s.size()-1);
|
||||
tlm_tow_s=tlm_tow_s.subvec(initial_meas_point(0),tlm_tow_s.size()-1);
|
||||
tlm_timestamp_s = tlm_timestamp_s.subvec(initial_meas_point(0), tlm_timestamp_s.size() - 1);
|
||||
tlm_tow_s = tlm_tow_s.subvec(initial_meas_point(0), tlm_tow_s.size() - 1);
|
||||
|
||||
check_results(true_timestamp_s,true_tow_s,tlm_timestamp_s,tlm_tow_s);
|
||||
check_results(true_timestamp_s, true_tow_s, tlm_timestamp_s, tlm_tow_s);
|
||||
|
||||
std::cout << "Test completed in " << (end - begin) << " microseconds" << std::endl;
|
||||
}
|
||||
|
||||
@ -2,12 +2,12 @@
|
||||
* \file gps_l1_ca_dll_pll_tracking_test.cc
|
||||
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
|
||||
* implementation based on some input parameters.
|
||||
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
* \author Javier Arribas, 2017. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2012-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@ -39,11 +39,11 @@
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <sys/wait.h>
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
@ -55,15 +55,6 @@
|
||||
#include "tracking_dump_reader.h"
|
||||
#include "signal_generator_flags.h"
|
||||
|
||||
DECLARE_string(generator_binary);
|
||||
DECLARE_string(rinex_nav_file);
|
||||
DECLARE_int32(duration);
|
||||
DECLARE_int32(fs_gen_hz);
|
||||
DECLARE_string(static_position);
|
||||
DECLARE_string(dynamic_position);
|
||||
DECLARE_string(filename_rinex_obs);
|
||||
DECLARE_string(filename_raw_data);
|
||||
DECLARE_int32(test_satellite_PRN);
|
||||
|
||||
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
||||
class GpsL1CADllPllTrackingTest_msg_rx;
|
||||
@ -82,7 +73,6 @@ private:
|
||||
public:
|
||||
int rx_message;
|
||||
~GpsL1CADllPllTrackingTest_msg_rx(); //!< Default destructor
|
||||
|
||||
};
|
||||
|
||||
GpsL1CADllPllTrackingTest_msg_rx_sptr GpsL1CADllPllTrackingTest_msg_rx_make()
|
||||
@ -163,7 +153,6 @@ public:
|
||||
|
||||
void configure_receiver();
|
||||
|
||||
gr::msg_queue::sptr queue;
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
@ -244,28 +233,28 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec true_time_s,
|
||||
//1. True value interpolation to match the measurement times
|
||||
|
||||
arma::vec true_value_interp;
|
||||
arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
//2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err=meas_value-true_value_interp;
|
||||
arma::vec err2=arma::square(err);
|
||||
double rmse=sqrt(arma::mean(err2));
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
//3. Mean err and variance
|
||||
double error_mean=arma::mean(err);
|
||||
double error_var=arma::var(err);
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 5. Peaks
|
||||
double max_error=arma::max(err);
|
||||
double min_error=arma::min(err);
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
//5. report
|
||||
|
||||
std::cout<< std::setprecision(10)<<"TRK Doppler RMSE="<<rmse
|
||||
<<", mean="<<error_mean
|
||||
<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Hz]"<<std::endl;
|
||||
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
@ -277,28 +266,28 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec true_t
|
||||
//1. True value interpolation to match the measurement times
|
||||
|
||||
arma::vec true_value_interp;
|
||||
arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
//2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err=meas_value-true_value_interp;
|
||||
arma::vec err2=arma::square(err);
|
||||
double rmse=sqrt(arma::mean(err2));
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
//3. Mean err and variance
|
||||
double error_mean=arma::mean(err);
|
||||
double error_var=arma::var(err);
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error=arma::max(err);
|
||||
double min_error=arma::min(err);
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
//5. report
|
||||
|
||||
std::cout<< std::setprecision(10)<<"TRK acc carrier phase RMSE="<<rmse
|
||||
<<", mean="<<error_mean
|
||||
<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Hz]"<<std::endl;
|
||||
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
@ -310,30 +299,31 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec true_time_s,
|
||||
//1. True value interpolation to match the measurement times
|
||||
|
||||
arma::vec true_value_interp;
|
||||
arma::interp1(true_time_s,true_value,meas_time_s,true_value_interp);
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
//2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err=meas_value-true_value_interp;
|
||||
arma::vec err2=arma::square(err);
|
||||
double rmse=sqrt(arma::mean(err2));
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
//3. Mean err and variance
|
||||
double error_mean=arma::mean(err);
|
||||
double error_var=arma::var(err);
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error=arma::max(err);
|
||||
double min_error=arma::min(err);
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
//5. report
|
||||
|
||||
std::cout<< std::setprecision(10)<<"TRK code phase RMSE="<<rmse
|
||||
<<", mean="<<error_mean
|
||||
<<", stdev="<<sqrt(error_var)<<" (max,min)="<<max_error<<","<<min_error<<" [Chips]"<<std::endl;
|
||||
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
{
|
||||
// Configure the signal generator
|
||||
@ -351,19 +341,17 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
//open true observables log file written by the simulator
|
||||
tracking_true_obs_reader true_obs_data;
|
||||
int test_satellite_PRN = FLAGS_test_satellite_PRN;
|
||||
std::cout<<"Testing satellite PRN="<<test_satellite_PRN<<std::endl;
|
||||
std::string true_obs_file=std::string("./gps_l1_ca_obs_prn");
|
||||
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
|
||||
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
ASSERT_NO_THROW({
|
||||
if (true_obs_data.open_obs_file(true_obs_file)==false)
|
||||
if (true_obs_data.open_obs_file(true_obs_file) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
})<< "Failure opening true observables file" << std::endl;
|
||||
}) << "Failure opening true observables file" << std::endl;
|
||||
|
||||
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
@ -372,17 +360,17 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_NO_THROW({
|
||||
if (true_obs_data.read_binary_obs()==false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
})<< "Failure reading true observables file" << std::endl;
|
||||
if (true_obs_data.read_binary_obs() == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure reading true observables file" << std::endl;
|
||||
|
||||
//restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
|
||||
std::cout<<"Initial Doppler [Hz]="<<true_obs_data.doppler_l1_hz<<" Initial code delay [Chips]="<<true_obs_data.prn_delay_chips<<std::endl;
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS-true_obs_data.prn_delay_chips/GPS_L1_CA_CODE_LENGTH_CHIPS)*baseband_sampling_freq*GPS_L1_CA_CODE_PERIOD;
|
||||
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
||||
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
@ -414,83 +402,78 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec *1000000 + tv.tv_usec;
|
||||
begin = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
top_block->run(); // Start threads and wait
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec *1000000 + tv.tv_usec;
|
||||
end = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
//check results
|
||||
//load the true values
|
||||
long int nepoch =true_obs_data.num_epochs();
|
||||
std::cout<<"True observation epochs="<<nepoch<<std::endl;
|
||||
//load the true values
|
||||
long int nepoch = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << nepoch << std::endl;
|
||||
|
||||
arma::vec true_timestamp_s=arma::zeros(nepoch,1);
|
||||
arma::vec true_acc_carrier_phase_cycles=arma::zeros(nepoch,1);
|
||||
arma::vec true_Doppler_Hz=arma::zeros(nepoch,1);
|
||||
arma::vec true_prn_delay_chips=arma::zeros(nepoch,1);
|
||||
arma::vec true_tow_s=arma::zeros(nepoch,1);
|
||||
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
arma::vec true_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
long int epoch_counter=0;
|
||||
while(true_obs_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter)=true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter)=true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter)=true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter)=true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter)=true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
}
|
||||
long int epoch_counter = 0;
|
||||
while(true_obs_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
ASSERT_NO_THROW({
|
||||
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening tracking dump file" << std::endl;
|
||||
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
ASSERT_NO_THROW({
|
||||
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat"))==false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
})<< "Failure opening tracking dump file" << std::endl;
|
||||
nepoch = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << std::endl;
|
||||
|
||||
nepoch =trk_dump.num_epochs();
|
||||
std::cout<<"Measured observation epochs="<<nepoch<<std::endl;
|
||||
arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
|
||||
arma::vec trk_timestamp_s=arma::zeros(nepoch,1);
|
||||
arma::vec trk_acc_carrier_phase_cycles=arma::zeros(nepoch,1);
|
||||
arma::vec trk_Doppler_Hz=arma::zeros(nepoch,1);
|
||||
arma::vec trk_prn_delay_chips=arma::zeros(nepoch,1);
|
||||
epoch_counter = 0;
|
||||
while(trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
||||
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
- GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
* (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) /1.0e-3);
|
||||
|
||||
epoch_counter=0;
|
||||
while(trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter)=static_cast<double>(trk_dump.PRN_start_sample_count)/static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter)=trk_dump.acc_carrier_phase_rad/GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter)=trk_dump.carrier_doppler_hz;
|
||||
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
double delay_chips=GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
-GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
*(fmod((static_cast<double>(trk_dump.PRN_start_sample_count)+trk_dump.aux1)/static_cast<double>(baseband_sampling_freq),1.0e-3)/1.0e-3);
|
||||
//Align initial measurements and cut the tracking pull-in transitory
|
||||
double pull_in_offset_s = 1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
|
||||
trk_prn_delay_chips(epoch_counter)=delay_chips;
|
||||
epoch_counter++;
|
||||
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
|
||||
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
|
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trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
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trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
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|
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}
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|
||||
|
||||
//Align initial measurements and cut the tracking pull-in transitory
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||||
|
||||
double pull_in_offset_s=1.0;
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||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0)+pull_in_offset_s), 1, "first");
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|
||||
trk_timestamp_s=trk_timestamp_s.subvec(initial_meas_point(0),trk_timestamp_s.size()-1);
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||||
trk_acc_carrier_phase_cycles=trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0),trk_acc_carrier_phase_cycles.size()-1);
|
||||
trk_Doppler_Hz=trk_Doppler_Hz.subvec(initial_meas_point(0),trk_Doppler_Hz.size()-1);
|
||||
trk_prn_delay_chips=trk_prn_delay_chips.subvec(initial_meas_point(0),trk_prn_delay_chips.size()-1);
|
||||
|
||||
check_results_doppler(true_timestamp_s,true_Doppler_Hz,trk_timestamp_s,trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s,true_prn_delay_chips,trk_timestamp_s,trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s,true_acc_carrier_phase_cycles,trk_timestamp_s,trk_acc_carrier_phase_cycles);
|
||||
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
|
||||
|
||||
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
|
||||
}
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user