From 6c55c3a93f257e88f4e0300b009d3919e9fd7339 Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Wed, 11 Apr 2018 17:41:27 +0200 Subject: [PATCH 01/32] Improve performance --- .../gnuradio_blocks/hybrid_observables_cc.cc | 49 +++++++++---------- .../gnuradio_blocks/hybrid_observables_cc.h | 2 +- 2 files changed, 25 insertions(+), 26 deletions(-) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 4b6ccfb1d..0dbda3661 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -67,7 +67,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, d_latency = 0.08; // 80 ms valid_channels.resize(d_nchannels, false); d_num_valid_channels = 0; - d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0), d_nchannels); + d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0 * 2.0), d_nchannels); // ############# ENABLE DATA FILE LOG ################# if (d_dump) @@ -306,21 +306,18 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i { return false; } - std::pair ind = find_interp_elements(ch, ti); + find_interp_elements(ch, ti); //Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1) // CARRIER PHASE INTERPOLATION - - out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, ind.second).Carrier_phase_rads - d_gnss_synchro_history->at(ch, ind.first).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time); + out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, 1).Carrier_phase_rads - d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time); // CARRIER DOPPLER INTERPOLATION - - out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, ind.second).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, ind.first).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time); + out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, 0).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, 1).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, 0).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time); // TOW INTERPOLATION - - out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, ind.second).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, ind.first).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, ind.first).RX_time) / (d_gnss_synchro_history->at(ch, ind.second).RX_time - d_gnss_synchro_history->at(ch, ind.first).RX_time); + out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time); return true; } @@ -338,38 +335,40 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a) } } -std::pair hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti) +void hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti) { unsigned int closest = 0; double dif = std::numeric_limits::max(); double dt = 0.0; for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++) { - dt = ti - d_gnss_synchro_history->at(ch, i).RX_time; - if (dt < dif and dt > 0.0) + dt = std::fabs(ti - d_gnss_synchro_history->at(ch, i).RX_time); + if (dt < dif) { - dif = dt; closest = i; + dif = dt; + } + else + { + break; } } - unsigned int index1; - unsigned int index2; - if (closest == 0) + if (ti > d_gnss_synchro_history->at(ch, closest).RX_time) { - index1 = 0; - index2 = 1; - } - else if (closest == (d_gnss_synchro_history->size(ch) - 1)) - { - index1 = d_gnss_synchro_history->size(ch) - 2; - index2 = d_gnss_synchro_history->size(ch) - 1; + while (closest > 0) + { + d_gnss_synchro_history->pop_front(ch); + closest--; + } } else { - index1 = closest; - index2 = closest + 1; + while (closest > 1) + { + d_gnss_synchro_history->pop_front(ch); + closest--; + } } - return std::pair(index1, index2); } diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h index 64f929857..5772464e2 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h @@ -68,7 +68,7 @@ private: void clean_history(unsigned int pos); double compute_T_rx_s(const Gnss_Synchro& a); bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti); - std::pair find_interp_elements(const unsigned int& ch, const double& ti); + void find_interp_elements(const unsigned int& ch, const double& ti); void correct_TOW_and_compute_prange(std::vector& data); int save_matfile(); From 6de28277edf9ef487905cde13a409aadde16ccaa Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 10:57:12 +0200 Subject: [PATCH 02/32] Fine tune buffer parameters --- .../observables/gnuradio_blocks/hybrid_observables_cc.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 0dbda3661..274dc0732 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -63,11 +63,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, d_dump_filename = dump_filename; T_rx_s = 0.0; T_rx_step_s = 0.001; // 1 ms - max_delta = 3.5; // 3.5 s - d_latency = 0.08; // 80 ms + max_delta = 1.5; // 1.5 s + d_latency = 0.175; // 175 ms valid_channels.resize(d_nchannels, false); d_num_valid_channels = 0; - d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0 * 2.0), d_nchannels); + d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0), d_nchannels); // ############# ENABLE DATA FILE LOG ################# if (d_dump) From f92dd4dc839c7fec9b1d4da5781e505f10a1e170 Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 11:03:52 +0200 Subject: [PATCH 03/32] New correlation procedure --- .../gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc | 11 +++++++++-- .../gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h | 4 ++++ 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 09f4e2621..fd42488d0 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -107,6 +107,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( d_TOW_at_current_symbol_ms = 0; d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS + 1); // Change fixed buffer size d_symbol_history.clear(); // Clear all the elements in the buffer + d_make_correlation = true; + d_symbol_counter_corr = 0; } @@ -170,7 +172,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ unsigned int required_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS; d_flag_preamble = false; - if (d_symbol_history.size() > required_symbols) + if (d_symbol_history.size() > required_symbols and d_make_correlation) { //******* preamble correlation ******** for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++) @@ -186,7 +188,12 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ corr_value += d_preambles_symbols[i] * d_symbol_history.at(i).correlation_length_ms; } } - if (corr_value >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS) break; + if (corr_value >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS) + { + d_symbol_counter_corr = 0; + d_make_correlation = false; + break; + } } } diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h index 22a9526a2..8e3600e3a 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h @@ -84,6 +84,10 @@ private: double d_symbol_accumulator; short int d_symbol_accumulator_counter; + // symbol counting + bool d_make_correlation; + unsigned int d_symbol_counter_corr; + //bits and frame unsigned short int d_frame_bit_index; unsigned int d_GPS_frame_4bytes; From ad220dd279943408f417cb23c109881634813563 Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 17:01:07 +0200 Subject: [PATCH 04/32] Minor changes --- .../gps_l1_ca_telemetry_decoder_cc.cc | 31 ++++++++++++------- 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index fd42488d0..0c79165c2 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -172,7 +172,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ unsigned int required_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS; d_flag_preamble = false; - if (d_symbol_history.size() > required_symbols and d_make_correlation) + if ((d_symbol_history.size() > required_symbols) and (d_make_correlation or !d_flag_frame_sync)) { //******* preamble correlation ******** for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++) @@ -181,24 +181,22 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ { if (d_symbol_history.at(i).Prompt_I < 0) // symbols clipping { - corr_value -= d_preambles_symbols[i] * d_symbol_history.at(i).correlation_length_ms; + corr_value -= d_preambles_symbols[i]; } else { - corr_value += d_preambles_symbols[i] * d_symbol_history.at(i).correlation_length_ms; + corr_value += d_preambles_symbols[i]; } } - if (corr_value >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS) - { - d_symbol_counter_corr = 0; - d_make_correlation = false; - break; - } + } + if (std::abs(corr_value) >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS) + { + d_symbol_counter_corr++; } } //******* frame sync ****************** - if (abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS) + if (std::abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS) { //TODO: Rewrite with state machine if (d_stat == 0) @@ -215,12 +213,14 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ } else if (d_stat == 1) //check 6 seconds of preamble separation { - preamble_diff_ms = round(((static_cast(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs)) * 1000.0); - if (abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1) + preamble_diff_ms = std::round(((static_cast(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs)) * 1000.0); + if (std::abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1) { DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite; d_GPS_FSM.Event_gps_word_preamble(); d_flag_preamble = true; + d_make_correlation = false; + d_symbol_counter_corr = 0; d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the PRN start sample index associated to the preamble if (!d_flag_frame_sync) { @@ -245,6 +245,11 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ } else { + d_symbol_counter_corr++; + if (d_symbol_counter_corr > (GPS_SUBFRAME_MS - GPS_CA_TELEMETRY_SYMBOLS_PER_BIT)) + { + d_make_correlation = true; + } if (d_stat == 1) { preamble_diff_ms = round(((static_cast(d_symbol_history.at(0).Tracking_sample_counter) - static_cast(d_preamble_time_samples)) / static_cast(d_symbol_history.at(0).fs)) * 1000.0); @@ -254,6 +259,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ d_stat = 0; //lost of frame sync d_flag_frame_sync = false; flag_TOW_set = false; + d_make_correlation = true; + d_symbol_counter_corr = 0; } } } From fcdf123e0ecb6a2d24328f05a8dac5bbe979e14f Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 17:14:57 +0200 Subject: [PATCH 05/32] Correct name --- src/algorithms/libs/gnss_circular_deque.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/algorithms/libs/gnss_circular_deque.h b/src/algorithms/libs/gnss_circular_deque.h index e1b73c87d..d9694e722 100644 --- a/src/algorithms/libs/gnss_circular_deque.h +++ b/src/algorithms/libs/gnss_circular_deque.h @@ -2,7 +2,7 @@ * \file gnss_circular_deque.h * \brief This class implements a circular deque for Gnss_Synchro * - * \author Luis Esteve, 2018. antonio.ramos(at)cttc.es + * \author Antonio Ramos, 2018. antonio.ramosdet(at)gmail.com * * Detailed description of the file here if needed. * From 52cc6ab04dacc6aa8fa5c706541d4abd0e9bcb13 Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 18:01:12 +0200 Subject: [PATCH 06/32] Remove telemetry -> tracking msg port --- src/algorithms/channel/adapters/channel.cc | 4 ---- .../gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc | 2 -- .../gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc | 2 -- .../gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc | 5 ----- .../gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc | 5 ----- .../gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc | 5 ----- .../gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc | 2 -- .../gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc | 2 -- .../gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc | 2 -- .../tracking/gnuradio_blocks/dll_pll_veml_tracking.cc | 1 - .../gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc | 2 -- .../gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc | 2 -- .../gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc | 2 -- .../gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc | 2 -- 14 files changed, 38 deletions(-) diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc index 5a6284888..f7cec1949 100644 --- a/src/algorithms/channel/adapters/channel.cc +++ b/src/algorithms/channel/adapters/channel.cc @@ -108,8 +108,6 @@ Channel::Channel(ConfigurationInterface* configuration, unsigned int channel, // Destructor Channel::~Channel() {} - - void Channel::connect(gr::top_block_sptr top_block) { if (connected_) @@ -137,8 +135,6 @@ void Channel::connect(gr::top_block_sptr top_block) DLOG(INFO) << "tracking -> telemetry_decoder"; // Message ports - top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_s"), trk_->get_right_block(), pmt::mp("preamble_timestamp_s")); - DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking"; top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events")); top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events")); diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc index a774577a5..286ca0c68 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc @@ -106,8 +106,6 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc( bool dump) : gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc index 640cbf009..8e032956e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc @@ -183,8 +183,6 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index 0bd2fae54..ca6dc8681 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -54,8 +54,6 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc( bool dump) : gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -285,9 +283,6 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite; d_preamble_index = d_sample_counter; //record the preamble sample stamp d_stat = 2; - // send asynchronous message to tracking to inform of frame sync and extend correlation time - pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); - this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); } else { diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc index 2b168a89c..e2a362974 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc @@ -53,8 +53,6 @@ glonass_l2_ca_telemetry_decoder_cc::glonass_l2_ca_telemetry_decoder_cc( bool dump) : gr::block("glonass_l2_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -284,9 +282,6 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu LOG(INFO) << "Starting string decoder for GLONASS L2 C/A SAT " << this->d_satellite; d_preamble_index = d_sample_counter; //record the preamble sample stamp d_stat = 2; - // send asynchronous message to tracking to inform of frame sync and extend correlation time - pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); - this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); } else { diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 0c79165c2..955d180d7 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -54,8 +54,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( bool dump) : gr::block("gps_navigation_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -224,9 +222,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the PRN start sample index associated to the preamble if (!d_flag_frame_sync) { - // send asynchronous message to tracking to inform of frame sync and extend correlation time - pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); - this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); d_flag_frame_sync = true; if (corr_value < 0) { diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc index 0325041d3..dee30987e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc @@ -55,8 +55,6 @@ gps_l2c_telemetry_decoder_cc::gps_l2c_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc index af9666c03..1cfd20162 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc @@ -56,8 +56,6 @@ gps_l5_telemetry_decoder_cc::gps_l5_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc index 672dbb101..194db3c11 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc @@ -59,8 +59,6 @@ sbas_l1_telemetry_decoder_cc::sbas_l1_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index 4ae6f8195..cd7986d2a 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -82,7 +82,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl { trk_parameters = conf_; // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); this->set_relative_rate(1.0 / static_cast(trk_parameters.vector_length)); diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc index a7c0062a2..563a5ea22 100644 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc @@ -99,8 +99,6 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc( size_t port_ch0) : gr::block("Galileo_E1_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); this->set_relative_rate(1.0 / vector_length); // initialize internal vars diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc index d35b6159c..15f58228c 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc @@ -94,8 +94,6 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc( float early_late_space_chips) : gr::block("Glonass_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); // initialize internal vars diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc index f6428bc5c..f6b62fade 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc @@ -94,8 +94,6 @@ Glonass_L2_Ca_Dll_Pll_Tracking_cc::Glonass_L2_Ca_Dll_Pll_Tracking_cc( float early_late_space_chips) : gr::block("Glonass_L2_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); // initialize internal vars diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc index cd4c86652..62b93ecd1 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc @@ -91,8 +91,6 @@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::Gps_L1_Ca_Tcp_Connector_Tracking_cc( size_t port_ch0) : gr::block("Gps_L1_Ca_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); // initialize internal vars d_dump = dump; From 51d19fd298d11db4542ba975fd68423e149ef2a5 Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 18:36:52 +0200 Subject: [PATCH 07/32] Change hybrid observables forecast --- .../gnuradio_blocks/hybrid_observables_cc.cc | 238 +++++++++--------- 1 file changed, 123 insertions(+), 115 deletions(-) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 274dc0732..593e01b6b 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -372,14 +372,13 @@ void hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const d } -void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), - gr_vector_int &ninput_items_required) +void hybrid_observables_cc::forecast(int noutput_items, gr_vector_int &ninput_items_required) { for (unsigned int i = 0; i < d_nchannels; i++) { ninput_items_required[i] = 0; } - ninput_items_required[d_nchannels] = 1; + ninput_items_required[d_nchannels] = noutput_items; } @@ -459,152 +458,161 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) Gnss_Synchro **out = reinterpret_cast(&output_items[0]); unsigned int i; + unsigned int returned_elements = 0; int total_input_items = 0; for (i = 0; i < d_nchannels; i++) { total_input_items += ninput_items[i]; } - consume(d_nchannels, 1); - T_rx_s += T_rx_step_s; - - ////////////////////////////////////////////////////////////////////////// - if ((total_input_items == 0) and (d_num_valid_channels == 0)) + for (int epoch = 0; epoch < ninput_items[d_nchannels]; epoch++) { - return 0; - } - ////////////////////////////////////////////////////////////////////////// + T_rx_s += T_rx_step_s; - if (total_input_items > 0) - { - for (i = 0; i < d_nchannels; i++) + ////////////////////////////////////////////////////////////////////////// + if ((total_input_items == 0) and (d_num_valid_channels == 0)) { - if (ninput_items[i] > 0) + consume(d_nchannels, epoch + 1); + return returned_elements; + } + ////////////////////////////////////////////////////////////////////////// + + if (total_input_items > 0 and epoch == 0) + { + for (i = 0; i < d_nchannels; i++) { - // Add the new Gnss_Synchros to their corresponding deque - for (int aux = 0; aux < ninput_items[i]; aux++) + if (ninput_items[i] > 0) { - if (in[i][aux].Flag_valid_word) + // Add the new Gnss_Synchros to their corresponding deque + for (int aux = 0; aux < ninput_items[i]; aux++) { - d_gnss_synchro_history->push_back(i, in[i][aux]); - d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]); - // Check if the last Gnss_Synchro comes from the same satellite as the previous ones - if (d_gnss_synchro_history->size(i) > 1) + if (in[i][aux].Flag_valid_word) { - if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN) + d_gnss_synchro_history->push_back(i, in[i][aux]); + d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]); + // Check if the last Gnss_Synchro comes from the same satellite as the previous ones + if (d_gnss_synchro_history->size(i) > 1) { - d_gnss_synchro_history->clear(i); + if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN) + { + d_gnss_synchro_history->clear(i); + } } } } + consume(i, ninput_items[i]); } - consume(i, ninput_items[i]); } } - } - for (i = 0; i < d_nchannels; i++) - { - if (d_gnss_synchro_history->size(i) > 2) + for (i = 0; i < d_nchannels; i++) { - valid_channels[i] = true; - } - else - { - valid_channels[i] = false; - } - } - d_num_valid_channels = valid_channels.count(); - // Check if there is any valid channel after reading the new incoming Gnss_Synchro data - if (d_num_valid_channels == 0) - { - return 0; - } - - for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold - { - if (valid_channels[i]) - { - clean_history(i); - if (d_gnss_synchro_history->size(i) < 2) + if (d_gnss_synchro_history->size(i) > 2) { - valid_channels[i] = false; - } - } - } - - // Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time - d_num_valid_channels = valid_channels.count(); - double T_rx_s_out = T_rx_s - d_latency; - if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0)) - { - return 0; - } - - std::vector epoch_data; - for (i = 0; i < d_nchannels; i++) - { - if (valid_channels[i]) - { - Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i); - if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out)) - { - epoch_data.push_back(interpolated_gnss_synchro); + valid_channels[i] = true; } else { valid_channels[i] = false; } } - } - d_num_valid_channels = valid_channels.count(); - if (d_num_valid_channels == 0) - { - return 0; - } - correct_TOW_and_compute_prange(epoch_data); - std::vector::iterator it = epoch_data.begin(); - for (i = 0; i < d_nchannels; i++) - { - if (valid_channels[i]) + d_num_valid_channels = valid_channels.count(); + // Check if there is any valid channel after reading the new incoming Gnss_Synchro data + if (d_num_valid_channels == 0) { - out[i][0] = (*it); - out[i][0].Flag_valid_pseudorange = true; - it++; + consume(d_nchannels, epoch + 1); + return returned_elements; } - else + + for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold { - out[i][0] = Gnss_Synchro(); - out[i][0].Flag_valid_pseudorange = false; - } - } - if (d_dump) - { - // MULTIPLEXED FILE RECORDING - Record results to file - try - { - double tmp_double; - for (i = 0; i < d_nchannels; i++) + if (valid_channels[i]) { - tmp_double = out[i][0].RX_time; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].TOW_at_current_symbol_s; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Carrier_Doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Pseudorange_m; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(out[i][0].PRN); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(out[i][0].Flag_valid_pseudorange); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + clean_history(i); + if (d_gnss_synchro_history->size(i) < 2) + { + valid_channels[i] = false; + } } } - catch (const std::ifstream::failure &e) + + // Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time + d_num_valid_channels = valid_channels.count(); + double T_rx_s_out = T_rx_s - d_latency; + if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0)) { - LOG(WARNING) << "Exception writing observables dump file " << e.what(); - d_dump = false; + consume(d_nchannels, epoch + 1); + return returned_elements; } + + std::vector epoch_data; + for (i = 0; i < d_nchannels; i++) + { + if (valid_channels[i]) + { + Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i); + if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out)) + { + epoch_data.push_back(interpolated_gnss_synchro); + } + else + { + valid_channels[i] = false; + } + } + } + d_num_valid_channels = valid_channels.count(); + if (d_num_valid_channels == 0) + { + consume(d_nchannels, epoch + 1); + return returned_elements; + } + correct_TOW_and_compute_prange(epoch_data); + std::vector::iterator it = epoch_data.begin(); + for (i = 0; i < d_nchannels; i++) + { + if (valid_channels[i]) + { + out[i][0] = (*it); + out[i][0].Flag_valid_pseudorange = true; + it++; + } + else + { + out[i][0] = Gnss_Synchro(); + out[i][0].Flag_valid_pseudorange = false; + } + } + if (d_dump) + { + // MULTIPLEXED FILE RECORDING - Record results to file + try + { + double tmp_double; + for (i = 0; i < d_nchannels; i++) + { + tmp_double = out[i][0].RX_time; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][0].TOW_at_current_symbol_s; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][0].Carrier_Doppler_hz; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][0].Pseudorange_m; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = static_cast(out[i][0].PRN); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = static_cast(out[i][0].Flag_valid_pseudorange); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + } + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "Exception writing observables dump file " << e.what(); + d_dump = false; + } + } + returned_elements++; } - return 1; + consume(d_nchannels, ninput_items[d_nchannels]); + return returned_elements; } From 525d8877319f5bfba84da757ff861a59aae8850c Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Thu, 12 Apr 2018 18:51:43 +0200 Subject: [PATCH 08/32] Fix bug --- .../gnuradio_blocks/hybrid_observables_cc.cc | 22 +++++++++---------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 593e01b6b..0fdd85c31 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -571,14 +571,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) { if (valid_channels[i]) { - out[i][0] = (*it); - out[i][0].Flag_valid_pseudorange = true; + out[i][epoch] = (*it); + out[i][epoch].Flag_valid_pseudorange = true; it++; } else { - out[i][0] = Gnss_Synchro(); - out[i][0].Flag_valid_pseudorange = false; + out[i][epoch] = Gnss_Synchro(); + out[i][epoch].Flag_valid_pseudorange = false; } } if (d_dump) @@ -589,19 +589,19 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) double tmp_double; for (i = 0; i < d_nchannels; i++) { - tmp_double = out[i][0].RX_time; + tmp_double = out[i][epoch].RX_time; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].TOW_at_current_symbol_s; + tmp_double = out[i][epoch].TOW_at_current_symbol_s; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Carrier_Doppler_hz; + tmp_double = out[i][epoch].Carrier_Doppler_hz; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI; + tmp_double = out[i][epoch].Carrier_phase_rads / GPS_TWO_PI; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Pseudorange_m; + tmp_double = out[i][epoch].Pseudorange_m; d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(out[i][0].PRN); + tmp_double = static_cast(out[i][epoch].PRN); d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(out[i][0].Flag_valid_pseudorange); + tmp_double = static_cast(out[i][epoch].Flag_valid_pseudorange); d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); } } From 6dfacb1676a1dd66e060a55b6285782907dfbd5d Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 12 Apr 2018 20:44:15 +0200 Subject: [PATCH 09/32] Fix building for clang-900.0.39.2 (OSX 10.12), tnx to michaelld --- .../volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt index d4ea0c46f..f9634c801 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt @@ -62,6 +62,7 @@ endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang") # Enable C++17 support in GCC >= 8.0.0 # Enable C++14 support in 8.0.0 > GCC >= 6.1.1 # Fallback to C++11 when using GCC < 6.1.1 + if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") @@ -75,8 +76,8 @@ if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) -# Enable C++17 support in Clang >= 6.0.0 or AppleClang >= 900 -# Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or 900 > AppleClang >= 600 +# Enable C++17 support in Clang >= 6.0.0 +# Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or AppleClang >= 600 # Fallback to C++11 if older version if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_SYSTEM_NAME MATCHES "Darwin") @@ -84,11 +85,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CLANG_VERSION VERSION_LESS "600") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") else(CLANG_VERSION VERSION_LESS "600") - if(CLANG_VERSION VERSION_LESS "900") - set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14") - else(CLANG_VERSION VERSION_LESS "900") - set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17") - endif(CLANG_VERSION VERSION_LESS "900") + set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14") endif(CLANG_VERSION VERSION_LESS "600") else(CMAKE_SYSTEM_NAME MATCHES "Darwin") if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0") From 1094e870bc7c6dadb136a115c5a8c89311e6f5ae Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Thu, 12 Apr 2018 20:45:13 +0200 Subject: [PATCH 10/32] Accessing maps is not so cheap, so doing in the constructor --- .../gnuradio_blocks/dll_pll_veml_tracking.cc | 20 ++++++++++--------- .../gnuradio_blocks/dll_pll_veml_tracking.h | 3 ++- 2 files changed, 13 insertions(+), 10 deletions(-) diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index d10af3177..087e48199 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -362,13 +362,15 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl d_last_prompt = gr_complex(0.0, 0.0); d_state = 0; // initial state: standby - signal_pretty_name["1C"] = "L1 C/A"; - signal_pretty_name["1B"] = "E1"; - signal_pretty_name["1G"] = "L1 C/A"; - signal_pretty_name["2S"] = "L2C"; - signal_pretty_name["2G"] = "L2 C/A"; - signal_pretty_name["5X"] = "E5a"; - signal_pretty_name["L5"] = "L5"; + map_signal_pretty_name["1C"] = "L1 C/A"; + map_signal_pretty_name["1B"] = "E1"; + map_signal_pretty_name["1G"] = "L1 C/A"; + map_signal_pretty_name["2S"] = "L2C"; + map_signal_pretty_name["2G"] = "L2 C/A"; + map_signal_pretty_name["5X"] = "E5a"; + map_signal_pretty_name["L5"] = "L5"; + + signal_pretty_name = map_signal_pretty_name[signal_type]; } @@ -511,7 +513,7 @@ void dll_pll_veml_tracking::start_tracking() d_code_loop_filter.set_pdi(static_cast(d_code_period)); // DEBUG OUTPUT - std::cout << "Tracking of " << systemName << " " << signal_pretty_name[signal_type] << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; + std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking pull-in @@ -1263,7 +1265,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) next_state = acquire_secondary(); if (next_state) { - std::cout << systemName << " " << signal_pretty_name[signal_type] << " secondary code locked in channel " << d_channel + std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; } diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h index 89f71a99a..0b8392d2d 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h @@ -119,7 +119,8 @@ private: std::string systemName; std::string signal_type; std::string *d_secondary_code_string; - std::map signal_pretty_name; + std::map map_signal_pretty_name; + std::string signal_pretty_name; //tracking state machine int d_state; From 31e634635ce96a0ba863e91943069d8a79f01823 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 13 Apr 2018 11:07:58 +0200 Subject: [PATCH 11/32] Move general_work to the bottom of the file --- .../gnuradio_blocks/pcps_acquisition.cc | 156 ++++++++-------- .../galileo_e1b_telemetry_decoder_cc.cc | 70 ++++---- .../galileo_e5a_telemetry_decoder_cc.cc | 70 ++++---- .../glonass_l1_ca_telemetry_decoder_cc.cc | 70 ++++---- .../glonass_l2_ca_telemetry_decoder_cc.cc | 70 ++++---- .../gps_l1_ca_telemetry_decoder_cc.cc | 76 ++++---- .../gps_l2c_telemetry_decoder_cc.cc | 70 ++++---- .../gps_l5_telemetry_decoder_cc.cc | 74 ++++---- .../sbas_l1_telemetry_decoder_cc.cc | 168 +++++++++--------- 9 files changed, 411 insertions(+), 413 deletions(-) diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc index 0eb0cd3dd..62e55dd31 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc @@ -335,84 +335,6 @@ void pcps_acquisition::send_negative_acquisition() } -int pcps_acquisition::general_work(int noutput_items __attribute__((unused)), - gr_vector_int& ninput_items, gr_vector_const_void_star& input_items, - gr_vector_void_star& output_items __attribute__((unused))) -{ - /* - * By J.Arribas, L.Esteve and M.Molina - * Acquisition strategy (Kay Borre book + CFAR threshold): - * 1. Compute the input signal power estimation - * 2. Doppler serial search loop - * 3. Perform the FFT-based circular convolution (parallel time search) - * 4. Record the maximum peak and the associated synchronization parameters - * 5. Compute the test statistics and compare to the threshold - * 6. Declare positive or negative acquisition using a message port - */ - - gr::thread::scoped_lock lk(d_setlock); - if (!d_active or d_worker_active) - { - d_sample_counter += d_fft_size * ninput_items[0]; - consume_each(ninput_items[0]); - if (d_step_two) - { - d_doppler_center_step_two = static_cast(d_gnss_synchro->Acq_doppler_hz); - update_grid_doppler_wipeoffs_step2(); - d_state = 0; - d_active = true; - } - return 0; - } - - switch (d_state) - { - case 0: - { - //restart acquisition variables - d_gnss_synchro->Acq_delay_samples = 0.0; - d_gnss_synchro->Acq_doppler_hz = 0.0; - d_gnss_synchro->Acq_samplestamp_samples = 0; - d_well_count = 0; - d_mag = 0.0; - d_input_power = 0.0; - d_test_statistics = 0.0; - d_state = 1; - d_sample_counter += d_fft_size * ninput_items[0]; // sample counter - consume_each(ninput_items[0]); - break; - } - - case 1: - { - // Copy the data to the core and let it know that new data is available - if (d_cshort) - { - memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t)); - } - else - { - memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex)); - } - if (acq_parameters.blocking) - { - lk.unlock(); - acquisition_core(d_sample_counter); - } - else - { - gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter); - d_worker_active = true; - } - d_sample_counter += d_fft_size; - consume_each(1); - break; - } - } - return 0; -} - - void pcps_acquisition::acquisition_core(unsigned long int samp_count) { gr::thread::scoped_lock lk(d_setlock); @@ -686,3 +608,81 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count) } d_worker_active = false; } + + +int pcps_acquisition::general_work(int noutput_items __attribute__((unused)), + gr_vector_int& ninput_items, gr_vector_const_void_star& input_items, + gr_vector_void_star& output_items __attribute__((unused))) +{ + /* + * By J.Arribas, L.Esteve and M.Molina + * Acquisition strategy (Kay Borre book + CFAR threshold): + * 1. Compute the input signal power estimation + * 2. Doppler serial search loop + * 3. Perform the FFT-based circular convolution (parallel time search) + * 4. Record the maximum peak and the associated synchronization parameters + * 5. Compute the test statistics and compare to the threshold + * 6. Declare positive or negative acquisition using a message port + */ + + gr::thread::scoped_lock lk(d_setlock); + if (!d_active or d_worker_active) + { + d_sample_counter += d_fft_size * ninput_items[0]; + consume_each(ninput_items[0]); + if (d_step_two) + { + d_doppler_center_step_two = static_cast(d_gnss_synchro->Acq_doppler_hz); + update_grid_doppler_wipeoffs_step2(); + d_state = 0; + d_active = true; + } + return 0; + } + + switch (d_state) + { + case 0: + { + //restart acquisition variables + d_gnss_synchro->Acq_delay_samples = 0.0; + d_gnss_synchro->Acq_doppler_hz = 0.0; + d_gnss_synchro->Acq_samplestamp_samples = 0; + d_well_count = 0; + d_mag = 0.0; + d_input_power = 0.0; + d_test_statistics = 0.0; + d_state = 1; + d_sample_counter += d_fft_size * ninput_items[0]; // sample counter + consume_each(ninput_items[0]); + break; + } + + case 1: + { + // Copy the data to the core and let it know that new data is available + if (d_cshort) + { + memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t)); + } + else + { + memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex)); + } + if (acq_parameters.blocking) + { + lk.unlock(); + acquisition_core(d_sample_counter); + } + else + { + gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter); + d_worker_active = true; + } + d_sample_counter += d_fft_size; + consume_each(1); + break; + } + } + return 0; +} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc index 286ca0c68..6f2242454 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc @@ -272,6 +272,41 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in } +void galileo_e1b_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void galileo_e1b_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -467,38 +502,3 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute //std::cout<<"GPS L1 TLM output on CH="<d_channel << " SAMPLE STAMP="<(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc index 8e032956e..c828fb859 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc @@ -245,6 +245,41 @@ galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc() } +void galileo_e5a_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void galileo_e5a_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -491,38 +526,3 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute return 0; } } - - -void galileo_e5a_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void galileo_e5a_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index ca6dc8681..09429a7e1 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -221,6 +221,41 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in } +void glonass_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void glonass_l1_ca_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); + } + } + } +} + + int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -408,38 +443,3 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu return 1; } - - -void glonass_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void glonass_l1_ca_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc index e2a362974..b446b6e7e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc @@ -220,6 +220,41 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in } +void glonass_l2_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void glonass_l2_ca_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); + } + } + } +} + + int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -407,38 +442,3 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu return 1; } - - -void glonass_l2_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void glonass_l2_ca_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 955d180d7..1070dca28 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -152,6 +152,44 @@ bool gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(unsigned int gpsword) } +void gps_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN(); + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + d_GPS_FSM.i_channel_ID = channel; + DLOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel + << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -411,41 +449,3 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ return 1; } - - -void gps_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN(); - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - d_GPS_FSM.i_channel_ID = channel; - DLOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel - << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc index dee30987e..f06d19b6f 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc @@ -90,6 +90,41 @@ gps_l2c_telemetry_decoder_cc::~gps_l2c_telemetry_decoder_cc() } +void gps_l2c_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "GPS L2C CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; +} + + +void gps_l2c_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "GPS L2C CNAV channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry_L2CM_"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel + << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L2 dump file " << e.what(); + } + } + } +} + + int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -193,38 +228,3 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__(( out[0] = current_synchro_data; return 1; } - - -void gps_l2c_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "GPS L2C CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; -} - - -void gps_l2c_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "GPS L2C CNAV channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry_L2CM_"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel - << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L2 dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc index 1cfd20162..0793428fa 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc @@ -100,6 +100,43 @@ gps_l5_telemetry_decoder_cc::~gps_l5_telemetry_decoder_cc() } +void gps_l5_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + LOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; + d_CNAV_Message.reset(); +} + + +void gps_l5_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + d_CNAV_Message.reset(); + LOG(INFO) << "GPS L5 CNAV channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry_L5_"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel + << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what(); + } + } + } +} + + int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -243,40 +280,3 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u out[0] = current_synchro_data; return 1; } - - -void gps_l5_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - LOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; - d_CNAV_Message.reset(); -} - - -void gps_l5_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - d_CNAV_Message.reset(); - LOG(INFO) << "GPS L5 CNAV channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry_L5_"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel - << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc index 194db3c11..830a02636 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc @@ -87,88 +87,6 @@ sbas_l1_telemetry_decoder_cc::~sbas_l1_telemetry_decoder_cc() } -int sbas_l1_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), - gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) -{ - VLOG(FLOW) << "general_work(): " - << "noutput_items=" << noutput_items << "\toutput_items real size=" << output_items.size() << "\tninput_items size=" << ninput_items.size() << "\tinput_items real size=" << input_items.size() << "\tninput_items[0]=" << ninput_items[0]; - // get pointers on in- and output gnss-synchro objects - Gnss_Synchro *out = reinterpret_cast(output_items[0]); // Get the output buffer pointer - const Gnss_Synchro *in = reinterpret_cast(input_items[0]); // Get the input buffer pointer - - Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block - //1. Copy the current tracking output - current_symbol = in[0]; - // copy correlation samples into samples vector - d_sample_buf.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue - - // store the time stamp of the first sample in the processed sample block - double sample_stamp = static_cast(in[0].Tracking_sample_counter) / static_cast(in[0].fs); - - // decode only if enough samples in buffer - if (d_sample_buf.size() >= d_block_size) - { - // align correlation samples in pairs - // and obtain the symbols by summing the paired correlation samples - std::vector symbols; - bool sample_alignment = d_sample_aligner.get_symbols(d_sample_buf, symbols); - - // align symbols in pairs - // and obtain the bits by decoding the symbol pairs - std::vector bits; - bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(symbols, bits); - - // search for preambles - // and extract the corresponding message candidates - std::vector msg_candidates; - d_frame_detector.get_frame_candidates(bits, msg_candidates); - - // verify checksum - // and return the valid messages - std::vector valid_msgs; - d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs); - - // compute message sample stamp - // and fill messages in SBAS raw message objects - //std::vector sbas_raw_msgs; - for (std::vector::const_iterator it = valid_msgs.cbegin(); - it != valid_msgs.cend(); ++it) - { - int message_sample_offset = - (sample_alignment ? 0 : -1) + d_samples_per_symbol * (symbol_alignment ? -1 : 0) + d_samples_per_symbol * d_symbols_per_bit * it->first; - double message_sample_stamp = sample_stamp + static_cast(message_sample_offset) / 1000.0; - VLOG(EVENT) << "message_sample_stamp=" << message_sample_stamp - << " (sample_stamp=" << sample_stamp - << " sample_alignment=" << sample_alignment - << " symbol_alignment=" << symbol_alignment - << " relative_preamble_start=" << it->first - << " message_sample_offset=" << message_sample_offset - << ")"; - //Sbas_Raw_Msg sbas_raw_msg(message_sample_stamp, this->d_satellite.get_PRN(), it->second); - //sbas_raw_msgs.push_back(sbas_raw_msg); - } - - // parse messages - // and send them to the SBAS raw message queue - //for(std::vector::iterator it = sbas_raw_msgs.begin(); it != sbas_raw_msgs.end(); it++) - // { - //std::cout << "SBAS message type " << it->get_msg_type() << " from PRN" << it->get_prn() << " received" << std::endl; - //sbas_telemetry_data.update(*it); - // } - - // clear all processed samples in the input buffer - d_sample_buf.clear(); - } - - // UPDATE GNSS SYNCHRO DATA - // actually the SBAS telemetry decoder doesn't support ranging - current_symbol.Flag_valid_word = false; // indicate to observable block that this synchro object isn't valid for pseudorange computation - out[0] = current_symbol; - consume_each(1); // tell scheduler input items consumed - return 1; // tell scheduler output items produced -} - - void sbas_l1_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) { d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); @@ -184,7 +102,6 @@ void sbas_l1_telemetry_decoder_cc::set_channel(int channel) // ### helper class for sample alignment ### - sbas_l1_telemetry_decoder_cc::sample_aligner::sample_aligner() { d_n_smpls_in_history = 3; @@ -403,12 +320,11 @@ void sbas_l1_telemetry_decoder_cc::frame_detector::get_frame_candidates(const st // ### helper class for checking the CRC of the message candidates ### - - void sbas_l1_telemetry_decoder_cc::crc_verifier::reset() { } + void sbas_l1_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector msg_candidates, std::vector &valid_msgs) { std::stringstream ss; @@ -500,3 +416,85 @@ void sbas_l1_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_b << std::setfill('0') << std::hex << static_cast(byte) << std::setfill(' ') << std::resetiosflags(std::ios::hex); } + + +int sbas_l1_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), + gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) +{ + VLOG(FLOW) << "general_work(): " + << "noutput_items=" << noutput_items << "\toutput_items real size=" << output_items.size() << "\tninput_items size=" << ninput_items.size() << "\tinput_items real size=" << input_items.size() << "\tninput_items[0]=" << ninput_items[0]; + // get pointers on in- and output gnss-synchro objects + Gnss_Synchro *out = reinterpret_cast(output_items[0]); // Get the output buffer pointer + const Gnss_Synchro *in = reinterpret_cast(input_items[0]); // Get the input buffer pointer + + Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block + //1. Copy the current tracking output + current_symbol = in[0]; + // copy correlation samples into samples vector + d_sample_buf.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue + + // store the time stamp of the first sample in the processed sample block + double sample_stamp = static_cast(in[0].Tracking_sample_counter) / static_cast(in[0].fs); + + // decode only if enough samples in buffer + if (d_sample_buf.size() >= d_block_size) + { + // align correlation samples in pairs + // and obtain the symbols by summing the paired correlation samples + std::vector symbols; + bool sample_alignment = d_sample_aligner.get_symbols(d_sample_buf, symbols); + + // align symbols in pairs + // and obtain the bits by decoding the symbol pairs + std::vector bits; + bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(symbols, bits); + + // search for preambles + // and extract the corresponding message candidates + std::vector msg_candidates; + d_frame_detector.get_frame_candidates(bits, msg_candidates); + + // verify checksum + // and return the valid messages + std::vector valid_msgs; + d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs); + + // compute message sample stamp + // and fill messages in SBAS raw message objects + //std::vector sbas_raw_msgs; + for (std::vector::const_iterator it = valid_msgs.cbegin(); + it != valid_msgs.cend(); ++it) + { + int message_sample_offset = + (sample_alignment ? 0 : -1) + d_samples_per_symbol * (symbol_alignment ? -1 : 0) + d_samples_per_symbol * d_symbols_per_bit * it->first; + double message_sample_stamp = sample_stamp + static_cast(message_sample_offset) / 1000.0; + VLOG(EVENT) << "message_sample_stamp=" << message_sample_stamp + << " (sample_stamp=" << sample_stamp + << " sample_alignment=" << sample_alignment + << " symbol_alignment=" << symbol_alignment + << " relative_preamble_start=" << it->first + << " message_sample_offset=" << message_sample_offset + << ")"; + //Sbas_Raw_Msg sbas_raw_msg(message_sample_stamp, this->d_satellite.get_PRN(), it->second); + //sbas_raw_msgs.push_back(sbas_raw_msg); + } + + // parse messages + // and send them to the SBAS raw message queue + //for(std::vector::iterator it = sbas_raw_msgs.begin(); it != sbas_raw_msgs.end(); it++) + // { + //std::cout << "SBAS message type " << it->get_msg_type() << " from PRN" << it->get_prn() << " received" << std::endl; + //sbas_telemetry_data.update(*it); + // } + + // clear all processed samples in the input buffer + d_sample_buf.clear(); + } + + // UPDATE GNSS SYNCHRO DATA + // actually the SBAS telemetry decoder doesn't support ranging + current_symbol.Flag_valid_word = false; // indicate to observable block that this synchro object isn't valid for pseudorange computation + out[0] = current_symbol; + consume_each(1); // tell scheduler input items consumed + return 1; // tell scheduler output items produced +} From c01d8d0dd90d6a8121691d849c7dc2514fa4ade7 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 13 Apr 2018 11:39:05 +0200 Subject: [PATCH 12/32] Move general_work to the bottom of the file --- .../rtl_tcp_signal_source_c.cc | 70 +++++++++---------- .../unpack_spir_gss6450_samples.cc | 29 ++++---- 2 files changed, 50 insertions(+), 49 deletions(-) diff --git a/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc b/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc index e874e8a14..4ec4420ce 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc +++ b/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc @@ -158,41 +158,6 @@ rtl_tcp_signal_source_c::~rtl_tcp_signal_source_c() } -int rtl_tcp_signal_source_c::work(int noutput_items, - gr_vector_const_void_star & /*input_items*/, - gr_vector_void_star &output_items) -{ - gr_complex *out = reinterpret_cast(output_items[0]); - int i = 0; - if (io_service_.stopped()) - { - return -1; - } - - { - boost::mutex::scoped_lock lock(mutex_); - not_empty_.wait(lock, boost::bind(&rtl_tcp_signal_source_c::not_empty, - this)); - - for (; i < noutput_items && unread_ > 1; i++) - { - float re = buffer_[--unread_]; - float im = buffer_[--unread_]; - if (flip_iq_) - { - out[i] = gr_complex(im, re); - } - else - { - out[i] = gr_complex(re, im); - } - } - } - not_full_.notify_one(); - return i == 0 ? -1 : i; -} - - void rtl_tcp_signal_source_c::set_frequency(int frequency) { boost::system::error_code ec = @@ -359,3 +324,38 @@ void rtl_tcp_signal_source_c::handle_read(const boost::system::error_code &ec, this, _1, _2)); } } + + +int rtl_tcp_signal_source_c::work(int noutput_items, + gr_vector_const_void_star & /*input_items*/, + gr_vector_void_star &output_items) +{ + gr_complex *out = reinterpret_cast(output_items[0]); + int i = 0; + if (io_service_.stopped()) + { + return -1; + } + + { + boost::mutex::scoped_lock lock(mutex_); + not_empty_.wait(lock, boost::bind(&rtl_tcp_signal_source_c::not_empty, + this)); + + for (; i < noutput_items && unread_ > 1; i++) + { + float re = buffer_[--unread_]; + float im = buffer_[--unread_]; + if (flip_iq_) + { + out[i] = gr_complex(im, re); + } + else + { + out[i] = gr_complex(re, im); + } + } + } + not_full_.notify_one(); + return i == 0 ? -1 : i; +} diff --git a/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc b/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc index a5bca6ee7..bd725b219 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc +++ b/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc @@ -57,6 +57,21 @@ unpack_spir_gss6450_samples::~unpack_spir_gss6450_samples() } +int unpack_spir_gss6450_samples::compute_two_complement(unsigned long data) +{ + int res = 0; + if (static_cast(data) < two_compl_thres) + { + res = static_cast(data); + } + else + { + res = static_cast(data) - adc_bits_two_pow; + } + return res; +} + + int unpack_spir_gss6450_samples::work(int noutput_items, gr_vector_const_void_star& input_items, gr_vector_void_star& output_items) { @@ -86,17 +101,3 @@ int unpack_spir_gss6450_samples::work(int noutput_items, } return noutput_items; } - -int unpack_spir_gss6450_samples::compute_two_complement(unsigned long data) -{ - int res = 0; - if (static_cast(data) < two_compl_thres) - { - res = static_cast(data); - } - else - { - res = static_cast(data) - adc_bits_two_pow; - } - return res; -} From 44c6d8622ce1c57a8c6274e547464a53dad6c31a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 13 Apr 2018 12:11:41 +0200 Subject: [PATCH 13/32] Make the test to correctly fail if no kml file is generated --- src/tests/system-tests/position_test.cc | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/src/tests/system-tests/position_test.cc b/src/tests/system-tests/position_test.cc index 350055d2f..bf0925dda 100644 --- a/src/tests/system-tests/position_test.cc +++ b/src/tests/system-tests/position_test.cc @@ -277,8 +277,8 @@ int StaticPositionSystemTest::configure_receiver() const float dll_bw_narrow_hz = 2.0; const int extend_correlation_ms = 1; - const int display_rate_ms = 1000; - const int output_rate_ms = 1000; + const int display_rate_ms = 500; + const int output_rate_ms = 500; config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal)); @@ -358,10 +358,10 @@ int StaticPositionSystemTest::configure_receiver() config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz)); config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz)); config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips)); - + config->set_property("Tracking_1Cearly_late_space_narrow_chips", std::to_string(early_late_space_chips / 5.0)); config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz)); config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz)); - config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms)); + config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms)); // Set Telemetry config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); @@ -454,6 +454,7 @@ int StaticPositionSystemTest::run_receiver() void StaticPositionSystemTest::check_results() { std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in); + ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened"; std::string line; std::vector pos_e; @@ -466,6 +467,7 @@ void StaticPositionSystemTest::check_results() while (is_header) { std::getline(myfile, line); + ASSERT_FALSE(myfile.eof()) << "No valid kml file found."; std::size_t found = line.find(""); if (found != std::string::npos) is_header = false; } @@ -474,7 +476,11 @@ void StaticPositionSystemTest::check_results() //read data while (is_data) { - std::getline(myfile, line); + if (!std::getline(myfile, line)) + { + is_data = false; + break; + } std::size_t found = line.find(""); if (found != std::string::npos) is_data = false; @@ -504,6 +510,7 @@ void StaticPositionSystemTest::check_results() } } myfile.close(); + ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty"; double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0); double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0); From 26467a0f29dfc10448166616b600f707c226182a Mon Sep 17 00:00:00 2001 From: Antonio Ramos Date: Fri, 13 Apr 2018 12:30:06 +0200 Subject: [PATCH 14/32] Increase fixed latency in order to avoid loss of observables --- .../observables/gnuradio_blocks/hybrid_observables_cc.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 0fdd85c31..06f0efdcd 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -64,7 +64,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, T_rx_s = 0.0; T_rx_step_s = 0.001; // 1 ms max_delta = 1.5; // 1.5 s - d_latency = 0.175; // 175 ms + d_latency = 0.3; // 300 ms valid_channels.resize(d_nchannels, false); d_num_valid_channels = 0; d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0), d_nchannels); From fec1e374075df1851bd8b0a28de227015c859c4f Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sat, 14 Apr 2018 11:19:52 +0200 Subject: [PATCH 15/32] Fix Typo --- src/tests/system-tests/position_test.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/tests/system-tests/position_test.cc b/src/tests/system-tests/position_test.cc index bf0925dda..4018552bc 100644 --- a/src/tests/system-tests/position_test.cc +++ b/src/tests/system-tests/position_test.cc @@ -358,7 +358,7 @@ int StaticPositionSystemTest::configure_receiver() config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz)); config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz)); config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips)); - config->set_property("Tracking_1Cearly_late_space_narrow_chips", std::to_string(early_late_space_chips / 5.0)); + config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz)); config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz)); config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms)); @@ -366,7 +366,6 @@ int StaticPositionSystemTest::configure_receiver() // Set Telemetry config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); config->set_property("TelemetryDecoder_1C.dump", "false"); - config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor)); // Set Observables config->set_property("Observables.implementation", "Hybrid_Observables"); From b1695375a854bda08df9c2f509b3af574171417a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sat, 14 Apr 2018 16:04:33 +0200 Subject: [PATCH 16/32] Improve finding of gnuradio-iio library --- cmake/Modules/Findiio.cmake | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/cmake/Modules/Findiio.cmake b/cmake/Modules/Findiio.cmake index 817e9f9f7..a1d526ae5 100644 --- a/cmake/Modules/Findiio.cmake +++ b/cmake/Modules/Findiio.cmake @@ -22,6 +22,28 @@ FIND_LIBRARY( /usr/local/lib64 /usr/lib /usr/lib64 + /usr/lib/x86_64-linux-gnu + /usr/lib/gcc/alpha-linux-gnu + /usr/lib/gcc/aarch64-linux-gnu + /usr/lib/gcc/arm-linux-gnueabi + /usr/lib/gcc/arm-linux-gnueabihf + /usr/lib/gcc/hppa-linux-gnu + /usr/lib/gcc/i686-gnu + /usr/lib/gcc/i686-linux-gnu + /usr/lib/gcc/x86_64-kfreebsd-gnu + /usr/lib/gcc/i686-kfreebsd-gnu + /usr/lib/gcc/m68k-linux-gnu + /usr/lib/gcc/mips-linux-gnu + /usr/lib/gcc/mips64el-linux-gnuabi64 + /usr/lib/gcc/mipsel-linux-gnu + /usr/lib/gcc/powerpc-linux-gnu + /usr/lib/gcc/powerpc-linux-gnuspe + /usr/lib/gcc/powerpc64-linux-gnu + /usr/lib/gcc/powerpc64le-linux-gnu + /usr/lib/gcc/s390x-linux-gnu + /usr/lib/gcc/sparc64-linux-gnu + /usr/lib/gcc/x86_64-linux-gnux32 + /usr/lib/gcc/sh4-linux-gnu ) INCLUDE(FindPackageHandleStandardArgs) From bce730f68da4c93d05a26aceed409e23d8acedb1 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sat, 14 Apr 2018 16:12:21 +0200 Subject: [PATCH 17/32] Improve finding of gnuradio-iio and libiio libraries --- cmake/Modules/Findiio.cmake | 42 +++++++++++++++++----------------- cmake/Modules/Findlibiio.cmake | 42 +++++++++++++++++----------------- 2 files changed, 42 insertions(+), 42 deletions(-) diff --git a/cmake/Modules/Findiio.cmake b/cmake/Modules/Findiio.cmake index a1d526ae5..fc7af0d45 100644 --- a/cmake/Modules/Findiio.cmake +++ b/cmake/Modules/Findiio.cmake @@ -23,27 +23,27 @@ FIND_LIBRARY( /usr/lib /usr/lib64 /usr/lib/x86_64-linux-gnu - /usr/lib/gcc/alpha-linux-gnu - /usr/lib/gcc/aarch64-linux-gnu - /usr/lib/gcc/arm-linux-gnueabi - /usr/lib/gcc/arm-linux-gnueabihf - /usr/lib/gcc/hppa-linux-gnu - /usr/lib/gcc/i686-gnu - /usr/lib/gcc/i686-linux-gnu - /usr/lib/gcc/x86_64-kfreebsd-gnu - /usr/lib/gcc/i686-kfreebsd-gnu - /usr/lib/gcc/m68k-linux-gnu - /usr/lib/gcc/mips-linux-gnu - /usr/lib/gcc/mips64el-linux-gnuabi64 - /usr/lib/gcc/mipsel-linux-gnu - /usr/lib/gcc/powerpc-linux-gnu - /usr/lib/gcc/powerpc-linux-gnuspe - /usr/lib/gcc/powerpc64-linux-gnu - /usr/lib/gcc/powerpc64le-linux-gnu - /usr/lib/gcc/s390x-linux-gnu - /usr/lib/gcc/sparc64-linux-gnu - /usr/lib/gcc/x86_64-linux-gnux32 - /usr/lib/gcc/sh4-linux-gnu + /usr/lib/alpha-linux-gnu + /usr/lib/aarch64-linux-gnu + /usr/lib/arm-linux-gnueabi + /usr/lib/arm-linux-gnueabihf + /usr/lib/hppa-linux-gnu + /usr/lib/i686-gnu + /usr/lib/i686-linux-gnu + /usr/lib/x86_64-kfreebsd-gnu + /usr/lib/i686-kfreebsd-gnu + /usr/lib/m68k-linux-gnu + /usr/lib/mips-linux-gnu + /usr/lib/mips64el-linux-gnuabi64 + /usr/lib/mipsel-linux-gnu + /usr/lib/powerpc-linux-gnu + /usr/lib/powerpc-linux-gnuspe + /usr/lib/powerpc64-linux-gnu + /usr/lib/powerpc64le-linux-gnu + /usr/lib/s390x-linux-gnu + /usr/lib/sparc64-linux-gnu + /usr/lib/x86_64-linux-gnux32 + /usr/lib/sh4-linux-gnu ) INCLUDE(FindPackageHandleStandardArgs) diff --git a/cmake/Modules/Findlibiio.cmake b/cmake/Modules/Findlibiio.cmake index 4ce6ca9c5..22eccf4b2 100644 --- a/cmake/Modules/Findlibiio.cmake +++ b/cmake/Modules/Findlibiio.cmake @@ -24,27 +24,27 @@ FIND_LIBRARY( /usr/lib /usr/lib64 /usr/lib/x86_64-linux-gnu - /usr/lib/gcc/alpha-linux-gnu - /usr/lib/gcc/aarch64-linux-gnu - /usr/lib/gcc/arm-linux-gnueabi - /usr/lib/gcc/arm-linux-gnueabihf - /usr/lib/gcc/hppa-linux-gnu - /usr/lib/gcc/i686-gnu - /usr/lib/gcc/i686-linux-gnu - /usr/lib/gcc/x86_64-kfreebsd-gnu - /usr/lib/gcc/i686-kfreebsd-gnu - /usr/lib/gcc/m68k-linux-gnu - /usr/lib/gcc/mips-linux-gnu - /usr/lib/gcc/mips64el-linux-gnuabi64 - /usr/lib/gcc/mipsel-linux-gnu - /usr/lib/gcc/powerpc-linux-gnu - /usr/lib/gcc/powerpc-linux-gnuspe - /usr/lib/gcc/powerpc64-linux-gnu - /usr/lib/gcc/powerpc64le-linux-gnu - /usr/lib/gcc/s390x-linux-gnu - /usr/lib/gcc/sparc64-linux-gnu - /usr/lib/gcc/x86_64-linux-gnux32 - /usr/lib/gcc/sh4-linux-gnu + /usr/lib/alpha-linux-gnu + /usr/lib/aarch64-linux-gnu + /usr/lib/arm-linux-gnueabi + /usr/lib/arm-linux-gnueabihf + /usr/lib/hppa-linux-gnu + /usr/lib/i686-gnu + /usr/lib/i686-linux-gnu + /usr/lib/x86_64-kfreebsd-gnu + /usr/lib/i686-kfreebsd-gnu + /usr/lib/m68k-linux-gnu + /usr/lib/mips-linux-gnu + /usr/lib/mips64el-linux-gnuabi64 + /usr/lib/mipsel-linux-gnu + /usr/lib/powerpc-linux-gnu + /usr/lib/powerpc-linux-gnuspe + /usr/lib/powerpc64-linux-gnu + /usr/lib/powerpc64le-linux-gnu + /usr/lib/s390x-linux-gnu + /usr/lib/sparc64-linux-gnu + /usr/lib/x86_64-linux-gnux32 + /usr/lib/sh4-linux-gnu /Library/Frameworks/iio.framework/ ) From ddb7a6f3e0eb7d9cff863ae5d12f85e433d57621 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sat, 14 Apr 2018 17:54:36 +0200 Subject: [PATCH 18/32] Fix detection of libiio package --- cmake/Modules/Findlibiio.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Modules/Findlibiio.cmake b/cmake/Modules/Findlibiio.cmake index 22eccf4b2..c3fa42366 100644 --- a/cmake/Modules/Findlibiio.cmake +++ b/cmake/Modules/Findlibiio.cmake @@ -14,7 +14,7 @@ FIND_PATH( FIND_LIBRARY( LIBIIO_LIBRARIES - NAMES libiio.so iio + NAMES iio libiio.so.0 HINTS $ENV{LIBIIO_DIR}/lib ${PC_LIBIIO_LIBDIR} PATHS ${CMAKE_INSTALL_PREFIX}/lib From 6740ac42c82c1709d38d28f040367c609304bd6a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sat, 14 Apr 2018 18:16:38 +0200 Subject: [PATCH 19/32] Fix detection of libiio-dev package --- cmake/Modules/Findlibiio.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cmake/Modules/Findlibiio.cmake b/cmake/Modules/Findlibiio.cmake index c3fa42366..334dcf8d7 100644 --- a/cmake/Modules/Findlibiio.cmake +++ b/cmake/Modules/Findlibiio.cmake @@ -3,7 +3,7 @@ PKG_CHECK_MODULES(PC_LIBIIO libiio) FIND_PATH( LIBIIO_INCLUDE_DIRS - NAMES gnuradio/iio/api.h + NAMES iio.h HINTS $ENV{LIBIIO_DIR}/include ${PC_LIBIIO_INCLUDEDIR} PATHS ${CMAKE_INSTALL_PREFIX}/include From 4db5f9165f4fcc002c99657a2eb7689b21ed4837 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Wed, 18 Apr 2018 11:18:58 +0200 Subject: [PATCH 20/32] Fix bug counting channels when using Gal E5a configurations --- src/core/receiver/gnss_flowgraph.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index eec75d2f0..adda1183d 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -556,10 +556,9 @@ void GNSSFlowgraph::set_signals_list() */ unsigned int total_channels = configuration_->property("Channels_1C.count", 0) + - configuration_->property("Channels_2S.count", 0) + configuration_->property("Channels_1B.count", 0) + - configuration_->property("Channels_5X.count", 0) + configuration_->property("Channels_1G.count", 0) + + configuration_->property("Channels_2S.count", 0) + configuration_->property("Channels_2G.count", 0) + configuration_->property("Channels_5X.count", 0) + configuration_->property("Channels_L5.count", 0); From 514fde256aa9a7b57131a864a8bf373c5fa20d13 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 20 Apr 2018 12:50:32 +0200 Subject: [PATCH 21/32] Fix assignment of a channel to a given satellite with ChannelN.satellite=PRN --- src/core/receiver/gnss_flowgraph.cc | 158 ++++++++++++++-------------- 1 file changed, 81 insertions(+), 77 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index adda1183d..255cb7609 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -9,7 +9,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -61,6 +61,8 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr configurati GNSSFlowgraph::~GNSSFlowgraph() {} + + void GNSSFlowgraph::start() { if (running_) @@ -93,10 +95,9 @@ void GNSSFlowgraph::stop() void GNSSFlowgraph::connect() { - /* Connects the blocks in the flowgraph - * - * Signal Source > Signal conditioner >> Channels >> Observables >> PVT - */ + // Connects the blocks in the flowgraph + // Signal Source > Signal conditioner >> Channels >> Observables >> PVT + LOG(INFO) << "Connecting flowgraph"; if (connected_) { @@ -184,8 +185,8 @@ void GNSSFlowgraph::connect() { try { - //TODO: Remove this array implementation and create generic multistream connector - //(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) + // TODO: Remove this array implementation and create generic multistream connector + // (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) { //Multichannel Array @@ -198,14 +199,14 @@ void GNSSFlowgraph::connect() } else { - //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. - //Include GetRFChannels in the interface to avoid read config parameters here - //read the number of RF channels for each front-end + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); for (int j = 0; j < RF_Channels; j++) { - //Connect the multichannel signal source to multiple signal conditioners + // Connect the multichannel signal source to multiple signal conditioners // GNURADIO max_streams=-1 means infinite ports! LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams(); LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams(); @@ -244,8 +245,8 @@ void GNSSFlowgraph::connect() } DLOG(INFO) << "Signal source connected to signal conditioner"; - //connect the signal source to sample counter - //connect the sample counter to Observables + // connect the signal source to sample counter + // connect the sample counter to Observables try { double fs = static_cast(configuration_->property("GNSS-SDR.internal_fs_sps", 0)); @@ -267,7 +268,6 @@ void GNSSFlowgraph::connect() return; } - // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) int selected_signal_conditioner_ID; for (unsigned int i = 0; i < channels_count_; i++) @@ -301,26 +301,46 @@ void GNSSFlowgraph::connect() top_block_->disconnect_all(); return; } + } - std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal! - channels_.at(i)->set_signal(search_next_signal(gnss_signal, false)); - - if (channels_state_[i] == 1) + // Put channels fixed to a given satellite at the beginning of the vector, then the rest + std::vector vector_of_channels; + for (unsigned int i = 0; i < channels_count_; i++) + { + unsigned int sat = configuration_->property("Channel" + boost::lexical_cast(i) + ".satellite", 0); + if (sat == 0) { - channels_.at(i)->start_acquisition(); - available_GNSS_signals_.pop_front(); - LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal(); - LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition"; + vector_of_channels.push_back(i); } else { - LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; + auto it = vector_of_channels.begin(); + it = vector_of_channels.insert(it, i); } } - /* - * Connect the observables output of each channel to the PVT block - */ + // Assign satellites to channels in the initialization + for (unsigned int& i : vector_of_channels) + { + std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal + unsigned int sat = configuration_->property("Channel" + boost::lexical_cast(i) + ".satellite", 0); + if (sat == 0) + { + channels_.at(i)->set_signal(search_next_signal(gnss_signal, true)); + } + else + { + std::string gnss_system; + if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS"; + if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo"; + if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass"; + Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal); + available_GNSS_signals_.remove(signal_value); + channels_.at(i)->set_signal(signal_value); + } + } + + // Connect the observables output of each channel to the PVT block try { for (unsigned int i = 0; i < channels_count_; i++) @@ -337,6 +357,21 @@ void GNSSFlowgraph::connect() return; } + // Activate acquisition in enabled channels + for (unsigned int i = 0; i < channels_count_; i++) + { + LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal(); + if (channels_state_[i] == 1) + { + channels_.at(i)->start_acquisition(); + LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition"; + } + else + { + LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; + } + } + connected_ = true; LOG(INFO) << "Flowgraph connected"; top_block_->dump(); @@ -374,12 +409,16 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) { DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; + unsigned int sat = configuration_->property("Channel" + boost::lexical_cast(who) + ".satellite", 0); switch (what) { case 0: DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); - channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true)); + if (sat == 0) + { + available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); + channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true)); + } DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); channels_.at(who)->start_acquisition(); break; @@ -390,10 +429,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) acq_channels_count_--; for (unsigned int i = 0; i < channels_count_; i++) { + unsigned int sat_ = configuration_->property("Channel" + boost::lexical_cast(i) + ".satellite", 0); if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0)) { channels_state_[i] = 1; - channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); + if (sat_ == 0) + { + channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); + } acq_channels_count_++; DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str(); channels_.at(i)->start_acquisition(); @@ -417,7 +460,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) { channels_state_[who] = 0; LOG(INFO) << "Channel " << who << " Idle state"; - available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); + if (sat == 0) + { + available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); + } } break; @@ -436,7 +482,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr co LOG(WARNING) << "Unable to update configuration while flowgraph running"; return; } - if (connected_) { LOG(WARNING) << "Unable to update configuration while flowgraph connected"; @@ -541,20 +586,10 @@ void GNSSFlowgraph::init() void GNSSFlowgraph::set_signals_list() { - /* - * Sets a sequential list of GNSS satellites - */ + // Set a sequential list of GNSS satellites std::set::const_iterator available_gnss_prn_iter; - /* - * \TODO Describe GNSS satellites more nicely, with RINEX notation - * See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5) - */ - - /* - * Read GNSS-SDR default GNSS system and signal - */ - + // Read GNSS systems and signals unsigned int total_channels = configuration_->property("Channels_1C.count", 0) + configuration_->property("Channels_1B.count", 0) + configuration_->property("Channels_1G.count", 0) + @@ -563,11 +598,7 @@ void GNSSFlowgraph::set_signals_list() configuration_->property("Channels_5X.count", 0) + configuration_->property("Channels_L5.count", 0); - /* - * Loop to create the list of GNSS Signals - * To add signals from other systems, add another loop 'for' - */ - + // Create the lists of GNSS satellites std::set available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; @@ -689,6 +720,7 @@ void GNSSFlowgraph::set_signals_list() std::string("L5"))); } } + if (configuration_->property("Channels_SBAS.count", 0) > 0) { /* @@ -704,7 +736,6 @@ void GNSSFlowgraph::set_signals_list() } } - if (configuration_->property("Channels_1B.count", 0) > 0) { /* @@ -764,39 +795,12 @@ void GNSSFlowgraph::set_signals_list() std::string("2G"))); } } - /* - * Ordering the list of signals from configuration file - */ - std::list::iterator gnss_it = available_GNSS_signals_.begin(); - - // Pre-assignation if not defined at ChannelX.signal=1C ...? In what order? - - for (unsigned int i = 0; i < total_channels; i++) - { - std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast(i) + ".signal", std::string("1C"))); - std::string gnss_system; - if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS"; - if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo"; - if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass"; - unsigned int sat = configuration_->property("Channel" + boost::lexical_cast(i) + ".satellite", 0); - LOG(INFO) << "Channel " << i << " system " << gnss_system << ", signal " << gnss_signal << ", sat " << sat; - if (sat == 0) // 0 = not PRN in configuration file - { - gnss_it++; - } - else - { - Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal); - available_GNSS_signals_.remove(signal_value); - gnss_it = available_GNSS_signals_.insert(gnss_it, signal_value); - } - } } void GNSSFlowgraph::set_channels_state() { - max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_)); + max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_); if (max_acq_channels_ > channels_count_) { max_acq_channels_ = channels_count_; From b4cb0cc76bfb0b2249158c18babe1d810489044a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 20 Apr 2018 12:56:32 +0200 Subject: [PATCH 22/32] Improve wording --- CONTRIBUTING.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 7a87240cb..262feeb0c 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -75,7 +75,7 @@ the actual username of your GitHub account): 4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr will receive the default name of `origin`. You can also add the original -gnss-sdr repository, which is usually called `upstream`: +gnss-sdr repository, which is usually referred to as `upstream`: $ cd gnss-sdr $ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git From 2cd1bed90c8de81f40236d7739e16d3aa6e02963 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 20 Apr 2018 13:20:10 +0200 Subject: [PATCH 23/32] Fix headers and documentation --- src/core/receiver/gnss_flowgraph.cc | 25 +++++++++++-------------- src/core/receiver/gnss_flowgraph.h | 21 ++++++++++++--------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 255cb7609..4df4c0727 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -1,12 +1,10 @@ /*! * \file gnss_flowgraph.cc - * \brief Implementation of a GNSS receiver flowgraph + * \brief Implementation of a GNSS receiver flow graph * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * Luis Esteve, 2012. luis(at)epsilon-formacion.com * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * - * Detailed description of the file here if needed. - * * ------------------------------------------------------------------------- * * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) @@ -95,7 +93,7 @@ void GNSSFlowgraph::stop() void GNSSFlowgraph::connect() { - // Connects the blocks in the flowgraph + // Connects the blocks in the flow graph // Signal Source > Signal conditioner >> Channels >> Observables >> PVT LOG(INFO) << "Connecting flowgraph"; @@ -401,7 +399,7 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) /* - * Applies an action to the flowgraph + * Applies an action to the flow graph * * \param[in] who Who generated the action * \param[in] what What is the action 0: acquisition failed @@ -509,9 +507,9 @@ void GNSSFlowgraph::init() { std::cout << "Creating source " << i << std::endl; sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i)); - //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. - //Include GetRFChannels in the interface to avoid read config parameters here - //read the number of RF channels for each front-end + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); std::cout << "RF Channels " << RF_Channels << std::endl; for (int j = 0; j < RF_Channels; j++) @@ -523,11 +521,11 @@ void GNSSFlowgraph::init() } else { - //backwards compatibility for old config files + // backwards compatibility for old config files sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1)); - //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. - //Include GetRFChannels in the interface to avoid read config parameters here - //read the number of RF channels for each front-end + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0); if (RF_Channels != 0) { @@ -539,7 +537,7 @@ void GNSSFlowgraph::init() } else { - //old config file, single signal source and single channel, not specified + // old config file, single signal source and single channel, not specified sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, -1)); } } @@ -566,7 +564,6 @@ void GNSSFlowgraph::init() std::shared_ptr>> channels = block_factory_->GetChannels(configuration_, queue_); - //todo:check smart pointer coherence... channels_count_ = channels->size(); for (unsigned int i = 0; i < channels_count_; i++) { diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 7f8891f29..df041c8e8 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -1,12 +1,12 @@ /*! * \file gnss_flowgraph.h - * \brief Interface of a GNSS receiver flowgraph. + * \brief Interface of a GNSS receiver flow graph. * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * Luis Esteve, 2011. luis(at)epsilon-formacion.com * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * * It contains a signal source, - * a signal conditioner, a set of channels, a pvt and an output filter. + * a signal conditioner, a set of channels, an observables block and a pvt. * * ------------------------------------------------------------------------- * @@ -53,7 +53,7 @@ class ChannelInterface; class ConfigurationInterface; class GNSSBlockFactory; -/*! \brief This class represents a GNSS flowgraph. +/*! \brief This class represents a GNSS flow graph. * * It contains a signal source, * a signal conditioner, a set of channels, a PVT and an output filter. @@ -62,7 +62,7 @@ class GNSSFlowgraph { public: /*! - * \brief Constructor that initializes the receiver flowgraph + * \brief Constructor that initializes the receiver flow graph */ GNSSFlowgraph(std::shared_ptr configuration, gr::msg_queue::sptr queue); @@ -71,14 +71,14 @@ public: */ virtual ~GNSSFlowgraph(); - //! \brief Start the flowgraph + //! \brief Start the flow graph void start(); - //! \brief Stop the flowgraph + //! \brief Stop the flow graph void stop(); /*! - * \brief Connects the defined blocks in the flowgraph + * \brief Connects the defined blocks in the flow graph * * Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter */ @@ -87,10 +87,10 @@ public: void wait(); /*! - * \brief Applies an action to the flowgraph + * \brief Applies an action to the flow graph * * \param[in] who Who generated the action - * \param[in] what What is the action 0: acquisition failed + * \param[in] what What is the action. 0: acquisition failed; 1: acquisition success; 2: tracking lost */ void apply_action(unsigned int who, unsigned int what); @@ -100,14 +100,17 @@ public: { return applied_actions_; } + bool connected() { return connected_; } + bool running() { return running_; } + /*! * \brief Sends a GNURadio asynchronous message from telemetry to PVT * From a584e8e51dfcba0a433820cf762ec2d462a7bca3 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sun, 22 Apr 2018 19:49:13 +0200 Subject: [PATCH 24/32] Add mutex to protect list of available signals Disconnect the flowgraph when leaving --- src/core/receiver/gnss_flowgraph.cc | 214 ++++++++++++++++++++++++++-- src/core/receiver/gnss_flowgraph.h | 8 +- 2 files changed, 206 insertions(+), 16 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 4df4c0727..3303d15b6 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -58,7 +58,13 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr configurati } -GNSSFlowgraph::~GNSSFlowgraph() {} +GNSSFlowgraph::~GNSSFlowgraph() +{ + if (connected_) + { + GNSSFlowgraph::disconnect(); + } +} void GNSSFlowgraph::start() @@ -376,6 +382,183 @@ void GNSSFlowgraph::connect() } +void GNSSFlowgraph::disconnect() +{ + LOG(INFO) << "Disconnecting flowgraph"; + + if (!connected_) + { + LOG(INFO) << "flowgraph was not connected"; + return; + } + + // Signal Source (i) > Signal conditioner (i) > + int RF_Channels = 0; + int signal_conditioner_ID = 0; + + for (int i = 0; i < sources_count_; i++) + { + try + { + // TODO: Remove this array implementation and create generic multistream connector + // (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) + if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) + { + //Multichannel Array + for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) + { + top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); + } + } + else + { + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end + RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); + + for (int j = 0; j < RF_Channels; j++) + { + if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) + { + top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + else + { + if (j == 0) + { + // RF_channel 0 backward compatibility with single channel sources + top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + else + { + // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) + top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + } + signal_conditioner_ID++; + } + } + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what(); + } + } + + try + { + top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0); + top_block_->disconnect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect sample counter: " << e.what(); + } + + // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) + int selected_signal_conditioner_ID; + for (unsigned int i = 0; i < channels_count_; i++) + { + selected_signal_conditioner_ID = configuration_->property("Channel" + boost::lexical_cast(i) + ".RF_channel_ID", 0); + try + { + top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0, + channels_.at(i)->get_left_block(), 0); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i << ": " << e.what(); + } + + // Signal Source > Signal conditioner >> Channels >> Observables + try + { + top_block_->disconnect(channels_.at(i)->get_right_block(), 0, + observables_->get_left_block(), i); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect channel " << i << " to observables: " << e.what(); + } + } + + try + { + for (unsigned int i = 0; i < channels_count_; i++) + { + top_block_->disconnect(observables_->get_right_block(), i, pvt_->get_left_block(), i); + top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry")); + } + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect observables to PVT: " << e.what(); + } + + for (int i = 0; i < sources_count_; i++) + { + try + { + sig_source_.at(i)->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal source block " << i << " internally: " << e.what(); + } + } + + // Signal Source > Signal conditioner > + for (unsigned int i = 0; i < sig_conditioner_.size(); i++) + { + try + { + sig_conditioner_.at(i)->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal conditioner block " << i << " internally: " << e.what(); + } + } + + for (unsigned int i = 0; i < channels_count_; i++) + { + try + { + channels_.at(i)->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect channel " << i << " internally: " << e.what(); + } + } + + try + { + observables_->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect observables block internally: " << e.what(); + } + + // Signal Source > Signal conditioner >> Channels >> Observables > PVT + try + { + pvt_->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect PVT block internally: " << e.what(); + } + + DLOG(INFO) << "blocks disconnected internally"; + + connected_ = false; + LOG(INFO) << "Flowgraph disconnected"; +} + + void GNSSFlowgraph::wait() { if (!running_) @@ -411,18 +594,19 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) switch (what) { case 0: - DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); + DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str(); if (sat == 0) { - available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); - channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true)); + std::lock_guard lock(signal_list_mutex); + available_GNSS_signals_.push_back(channels_[who]->get_signal()); + channels_[who]->set_signal(search_next_signal(channels_[who]->get_signal().get_signal_str(), true)); } - DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - channels_.at(who)->start_acquisition(); + DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str(); + channels_[who]->start_acquisition(); break; case 1: - LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite(); + LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite(); channels_state_[who] = 2; acq_channels_count_--; for (unsigned int i = 0; i < channels_count_; i++) @@ -433,26 +617,27 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) channels_state_[i] = 1; if (sat_ == 0) { - channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); + std::lock_guard lock(signal_list_mutex); + channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true)); } acq_channels_count_++; - DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str(); - channels_.at(i)->start_acquisition(); + DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str(); + channels_[i]->start_acquisition(); } DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i]; } break; case 2: - LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite(); + LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite(); DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_; if (acq_channels_count_ < max_acq_channels_) { channels_state_[who] = 1; acq_channels_count_++; - LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - channels_.at(who)->start_acquisition(); + LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str(); + channels_[who]->start_acquisition(); } else { @@ -460,7 +645,8 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) LOG(INFO) << "Channel " << who << " Idle state"; if (sat == 0) { - available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); + std::lock_guard lock(signal_list_mutex); + available_GNSS_signals_.push_back(channels_[who]->get_signal()); } } break; diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index df041c8e8..a6915e97e 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -43,6 +43,7 @@ #include #include #include +#include #include #include #include @@ -67,9 +68,9 @@ public: GNSSFlowgraph(std::shared_ptr configuration, gr::msg_queue::sptr queue); /*! - * \brief Virtual destructor + * \brief Destructor */ - virtual ~GNSSFlowgraph(); + ~GNSSFlowgraph(); //! \brief Start the flow graph void start(); @@ -84,6 +85,8 @@ public: */ void connect(); + void disconnect(); + void wait(); /*! @@ -147,6 +150,7 @@ private: gr::msg_queue::sptr queue_; std::list available_GNSS_signals_; std::vector channels_state_; + std::mutex signal_list_mutex; }; #endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/ From bed15db08d4759c92e3582e6005f88385c47b5be Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sun, 22 Apr 2018 22:51:02 +0200 Subject: [PATCH 25/32] Use volk_gnsssdr to reserve memory --- .../telemetry_decoder/gnuradio_blocks/CMakeLists.txt | 7 ++++++- .../gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc | 9 ++++----- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt index 335ae52df..26dae1cdf 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt @@ -37,10 +37,15 @@ include_directories( ${GFlags_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GNURADIO_RUNTIME_INCLUDE_DIRS} + ${VOLK_GNSSSDR_INCLUDE_DIRS} ) file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h") list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS) add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS}) -target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES}) +target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}) + +if(NOT VOLK_GNSSSDR_FOUND) + add_dependencies(telemetry_decoder_gr_blocks volk_gnsssdr_module) +endif(NOT VOLK_GNSSSDR_FOUND) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 1070dca28..5c0071307 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -32,8 +32,9 @@ #include "gps_l1_ca_telemetry_decoder_cc.h" #include "control_message_factory.h" #include -#include #include +#include +#include #ifndef _rotl @@ -63,10 +64,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( // set the preamble unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE; - //memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int)); - // preamble bits to sampled symbols - d_preambles_symbols = static_cast(malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_SYMBOLS)); + d_preambles_symbols = static_cast(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int), volk_gnsssdr_get_alignment())); int n = 0; for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++) { @@ -112,7 +111,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( gps_l1_ca_telemetry_decoder_cc::~gps_l1_ca_telemetry_decoder_cc() { - delete d_preambles_symbols; + volk_gnsssdr_free(d_preambles_symbols); if (d_dump_file.is_open() == true) { try From 9339ec4874af8c11644d874ca3531e2e7952a497 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sun, 22 Apr 2018 22:53:33 +0200 Subject: [PATCH 26/32] Display channel number when decoding data --- .../gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc index f06d19b6f..c27214c52 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc @@ -166,20 +166,20 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__(( { // get ephemeris object for this SV std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_ephemeris()); - std::cout << TEXT_BLUE << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; + std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_iono() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_iono()); - std::cout << TEXT_BLUE << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; + std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_utc_model() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_utc_model()); - std::cout << TEXT_BLUE << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; + std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } From 61fbbc9abb393422e5bd9dd6640ca6c639213c9e Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sun, 22 Apr 2018 23:07:34 +0200 Subject: [PATCH 27/32] Add color to GPS L5 CNAV message demodulation --- .../gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc | 14 +++++++------- .../gnuradio_blocks/gps_l5_telemetry_decoder_cc.h | 6 +++--- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc index 0793428fa..1f2a8decf 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc @@ -1,7 +1,6 @@ /*! * \file gps_l5_telemetry_decoder_cc.cc - * \brief Implementation of a NAV message demodulator block based on - * Kay Borre book MATLAB-based GPS receiver + * \brief Implementation of a CNAV message demodulator block * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * * ------------------------------------------------------------------------- @@ -31,12 +30,13 @@ #include "gps_l5_telemetry_decoder_cc.h" +#include "display.h" #include "gnss_synchro.h" #include "gps_cnav_ephemeris.h" #include "gps_cnav_iono.h" -#include -#include #include +#include +#include #include #include #include @@ -218,20 +218,20 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u { // get ephemeris object for this SV std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_ephemeris()); - std::cout << "New GPS L5 CNAV message received: ephemeris from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_iono() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_iono()); - std::cout << "New GPS L5 CNAV message received: iono model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_utc_model() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_utc_model()); - std::cout << "New GPS L5 CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h index 59f0bf108..8afa6569e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h @@ -1,7 +1,6 @@ /*! * \file gps_l5_telemetry_decoder_cc.h - * \brief Interface of a CNAV message demodulator block based on - * Kay Borre book MATLAB-based GPS receiver + * \brief Interface of a CNAV message demodulator block * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * ------------------------------------------------------------------------- * @@ -42,7 +41,8 @@ #include #include -extern "C" { +extern "C" +{ #include "cnav_msg.h" #include "edc.h" #include "bits.h" From 616812867feb62df72dc66aa56f4161c4c1388e5 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Sun, 22 Apr 2018 23:10:05 +0200 Subject: [PATCH 28/32] Report channel when decoding a NAV message --- .../telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc index d4980a532..e7379f7e0 100644 --- a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc +++ b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc @@ -39,13 +39,16 @@ //************ GPS WORD TO SUBFRAME DECODER STATE MACHINE ********** - struct Ev_gps_word_valid : sc::event { }; + + struct Ev_gps_word_invalid : sc::event { }; + + struct Ev_gps_word_preamble : sc::event { }; @@ -245,16 +248,20 @@ void GpsL1CaSubframeFsm::gps_word_to_subframe(int position) std::memcpy(&d_subframe[position * GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char) * GPS_WORD_LENGTH); } + void GpsL1CaSubframeFsm::clear_flag_new_subframe() { d_flag_new_subframe = false; } + + void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg() { //int subframe_ID; // NEW GPS SUBFRAME HAS ARRIVED! d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe - std::cout << "New GPS NAV message received: subframe " + std::cout << "New GPS NAV message received in channel " << i_channel_ID << ": " + << "subframe " << d_subframe_ID << " from satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl; d_nav.i_satellite_PRN = i_satellite_PRN; @@ -263,6 +270,7 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg() d_flag_new_subframe = true; } + void GpsL1CaSubframeFsm::Event_gps_word_valid() { this->process_event(Ev_gps_word_valid()); From 6f9fafcef06a82ae70d707752f42438a4bfbe823 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 23 Apr 2018 07:41:13 +0200 Subject: [PATCH 29/32] Disconnect flowgraph when finished --- src/core/receiver/control_thread.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc index db3e3841b..b2d1838f4 100644 --- a/src/core/receiver/control_thread.cc +++ b/src/core/receiver/control_thread.cc @@ -148,6 +148,7 @@ void ControlThread::run() std::cout << "Stopping GNSS-SDR, please wait!" << std::endl; flowgraph_->stop(); stop_ = true; + flowgraph_->disconnect(); //Join keyboard thread #ifdef OLD_BOOST From 3e0587b28c0551e86633056844cbff9ca19c67c1 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 23 Apr 2018 07:41:53 +0200 Subject: [PATCH 30/32] Display channel when decoding GNAV messages --- .../glonass_l2_ca_telemetry_decoder_cc.cc | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc index b446b6e7e..a57307850 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc @@ -31,9 +31,10 @@ #include "glonass_l2_ca_telemetry_decoder_cc.h" +#include "display.h" #include -#include #include +#include #define CRC_ERROR_LIMIT 6 @@ -180,11 +181,11 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in // 3. Check operation executed correctly if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; } else { - LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC error in channel " << d_channel << " from satellite " << d_satellite; } // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) @@ -193,26 +194,29 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link(); std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV UTC Model have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; } if (d_nav.have_new_almanac() == true) { unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number; std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac(slot_nbr)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Almanac have been received on channel" << d_channel << " in slot number " << slot_nbr; + LOG(INFO) << "GLONASS GNAV Almanac have been received in channel" << d_channel << " in slot number " << slot_nbr; + std::cout << TEXT_CYAN << "New GLONASS L2 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << std::endl; } // 5. Update satellite information on system if (d_nav.flag_update_slot_number == true) { - LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel; + LOG(INFO) << "GLONASS GNAV Slot Number Identified in channel " << d_channel; d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n); d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n); d_nav.flag_update_slot_number = false; From 1b852336c6918ce3a0a1082992a61284210a141a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 23 Apr 2018 07:52:49 +0200 Subject: [PATCH 31/32] Improve memory management in Viterbi decoder --- .../galileo_e1b_telemetry_decoder_cc.cc | 65 ++++++++----------- .../galileo_e1b_telemetry_decoder_cc.h | 9 +++ .../galileo_e5a_telemetry_decoder_cc.cc | 64 +++++++----------- .../galileo_e5a_telemetry_decoder_cc.h | 9 +++ 4 files changed, 68 insertions(+), 79 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc index 6f2242454..b9aee4196 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc @@ -37,6 +37,7 @@ #include #include #include +#include #include @@ -54,38 +55,8 @@ galileo_e1b_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump void galileo_e1b_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits) { - int CodeLength = 240; - int DataLength; - int nn, KK, mm, max_states; - int g_encoder[2]; - - nn = 2; // Coding rate 1/n - KK = 7; // Constraint Length - g_encoder[0] = 121; // Polynomial G1 - g_encoder[1] = 91; // Polynomial G2 - - mm = KK - 1; - max_states = 1 << mm; /* 2^mm */ - DataLength = (CodeLength / nn) - mm; - - /* create appropriate transition matrices */ - int *out0, *out1, *state0, *state1; - out0 = static_cast(calloc(max_states, sizeof(int))); - out1 = static_cast(calloc(max_states, sizeof(int))); - state0 = static_cast(calloc(max_states, sizeof(int))); - state1 = static_cast(calloc(max_states, sizeof(int))); - - nsc_transit(out0, state0, 0, g_encoder, KK, nn); - nsc_transit(out1, state1, 1, g_encoder, KK, nn); - Viterbi(page_part_bits, out0, state0, out1, state1, page_part_symbols, KK, nn, DataLength); - - /* Clean up memory */ - free(out0); - free(out1); - free(state0); - free(state1); } @@ -122,7 +93,7 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc( memcpy(static_cast(this->d_preambles_bits), static_cast(preambles_bits), GALILEO_INAV_PREAMBLE_LENGTH_BITS * sizeof(unsigned short int)); // preamble bits to sampled symbols - d_preambles_symbols = static_cast(malloc(sizeof(signed int) * d_symbols_per_preamble)); + d_preambles_symbols = static_cast(volk_gnsssdr_malloc(d_symbols_per_preamble * sizeof(int), volk_gnsssdr_get_alignment())); int n = 0; for (int i = 0; i < GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++) { @@ -153,12 +124,28 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc( d_flag_preamble = false; d_channel = 0; flag_TOW_set = false; + + // vars for Viterbi decoder + int max_states = 1 << mm; /* 2^mm */ + g_encoder[0] = 121; // Polynomial G1 + g_encoder[1] = 91; // Polynomial G2 + out0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + out1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + /* create appropriate transition matrices */ + nsc_transit(out0, state0, 0, g_encoder, KK, nn); + nsc_transit(out1, state1, 1, g_encoder, KK, nn); } galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc() { - delete d_preambles_symbols; + volk_gnsssdr_free(d_preambles_symbols); + volk_gnsssdr_free(out0); + volk_gnsssdr_free(out1); + volk_gnsssdr_free(state0); + volk_gnsssdr_free(state1); if (d_dump_file.is_open() == true) { try @@ -213,13 +200,13 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in d_nav.split_page(page_String, flag_even_word_arrived); if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite; //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl; } else { - std::cout << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; - LOG(INFO) << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite; + std::cout << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl; + LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite; } flag_even_word_arrived = 0; } @@ -235,21 +222,21 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); - std::cout << "New Galileo E1 I/NAV message received: ephemeris from satellite " << d_satellite << std::endl; + std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_iono_and_GST() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_iono()); - std::cout << "New Galileo E1 I/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl; + std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); - std::cout << "New Galileo E1 I/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl; + std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_almanac() == true) @@ -257,7 +244,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); //debug - std::cout << "Galileo E1 I/NAV almanac received!" << std::endl; + std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl; DLOG(INFO) << "GPS_to_Galileo time conversion:"; DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10; DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h index 33900b7d1..6caf0aa6c 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h @@ -112,6 +112,15 @@ private: std::string d_dump_filename; std::ofstream d_dump_file; + + // vars for Viterbi decoder + int *out0, *out1, *state0, *state1; + int g_encoder[2]; + const int nn = 2; // Coding rate 1/n + const int KK = 7; // Constraint Length + int mm = KK - 1; + const int CodeLength = 240; + int DataLength = (CodeLength / nn) - mm; }; #endif diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc index c828fb859..647647698 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc @@ -37,9 +37,11 @@ #include "galileo_e5a_telemetry_decoder_cc.h" #include "control_message_factory.h" #include "convolutional.h" +#include "display.h" #include #include #include +#include #include #include @@ -58,42 +60,8 @@ galileo_e5a_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump void galileo_e5a_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits) { - // int CodeLength = 240; - int CodeLength = 488; - int DataLength; - int nn, KK, mm, max_states; - int g_encoder[2]; - - nn = 2; // Coding rate 1/n - KK = 7; // Constraint Length - g_encoder[0] = 121; // Polynomial G1 - g_encoder[1] = 91; // Polynomial G2 - // g_encoder[0] = 171; // Polynomial G1 - // g_encoder[1] = 133; // Polynomial G2 - - mm = KK - 1; - max_states = 1 << mm; // 2^mm - DataLength = (CodeLength / nn) - mm; - - //create appropriate transition matrices - - int *out0, *out1, *state0, *state1; - out0 = static_cast(calloc(max_states, sizeof(int))); - out1 = static_cast(calloc(max_states, sizeof(int))); - state0 = static_cast(calloc(max_states, sizeof(int))); - state1 = static_cast(calloc(max_states, sizeof(int))); - - nsc_transit(out0, state0, 0, g_encoder, KK, nn); - nsc_transit(out1, state1, 1, g_encoder, KK, nn); - Viterbi(page_part_bits, out0, state0, out1, state1, page_part_symbols, KK, nn, DataLength); - - //Clean up memory - free(out0); - free(out1); - free(state0); - free(state1); } @@ -147,32 +115,32 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int fra d_nav.split_page(page_String); if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite; //std::cout << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl; } else { - std::cout << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; - LOG(INFO) << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite; + std::cout << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl; + LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite; } // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) { std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); - std::cout << "New Galileo E5a F/NAV message received: ephemeris from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_iono_and_GST() == true) { std::shared_ptr tmp_obj = std::make_shared(d_nav.get_iono()); - std::cout << "New Galileo E5a F/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_utc_model() == true) { std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); - std::cout << "New Galileo E5a F/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } } @@ -226,11 +194,27 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc( flag_bit_start = false; new_symbol = false; required_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS; + + // vars for Viterbi decoder + int max_states = 1 << mm; /* 2^mm */ + g_encoder[0] = 121; // Polynomial G1 + g_encoder[1] = 91; // Polynomial G2 + out0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + out1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + /* create appropriate transition matrices */ + nsc_transit(out0, state0, 0, g_encoder, KK, nn); + nsc_transit(out1, state1, 1, g_encoder, KK, nn); } galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc() { + volk_gnsssdr_free(out0); + volk_gnsssdr_free(out1); + volk_gnsssdr_free(state0); + volk_gnsssdr_free(state1); if (d_dump_file.is_open() == true) { try diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h index 5579f701a..5c004f18b 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h @@ -112,6 +112,15 @@ private: Gnss_Satellite d_satellite; // navigation message vars Galileo_Fnav_Message d_nav; + + // vars for Viterbi decoder + int *out0, *out1, *state0, *state1; + int g_encoder[2]; + const int nn = 2; // Coding rate 1/n + const int KK = 7; // Constraint Length + int mm = KK - 1; + const int CodeLength = 488; + int DataLength = (CodeLength / nn) - mm; }; #endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */ From 2c972b517b9652a5ad5818453f5c7bd33b7744a6 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 23 Apr 2018 07:53:47 +0200 Subject: [PATCH 32/32] Display info when decoding GNAV messages --- .../glonass_l1_ca_telemetry_decoder_cc.cc | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index 09429a7e1..a99daba1e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -181,11 +181,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in // 3. Check operation executed correctly if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; } else { - LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC error in channel " << d_channel << " from satellite " << d_satellite; } // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) @@ -194,26 +194,29 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link(); std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl; } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV UTC Model have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl; } if (d_nav.have_new_almanac() == true) { unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number; std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac(slot_nbr)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Almanac have been received on channel" << d_channel << " in slot number " << slot_nbr; + LOG(INFO) << "GLONASS GNAV Almanac have been received in channel" << d_channel << " in slot number " << slot_nbr; + std::cout << "New GLONASS L1 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl; } // 5. Update satellite information on system if (d_nav.flag_update_slot_number == true) { - LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel; + LOG(INFO) << "GLONASS GNAV Slot Number Identified in channel " << d_channel; d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n); d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n); d_nav.flag_update_slot_number = false;