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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2018-04-23 09:49:18 +02:00
commit fff91ba3f6
35 changed files with 1138 additions and 922 deletions
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2
CONTRIBUTING.md
View File

@ -75,7 +75,7 @@ the actual username of your GitHub account):
4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr 4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr
will receive the default name of `origin`. You can also add the original 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 $ cd gnss-sdr
$ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git $ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git

22
cmake/Modules/Findiio.cmake
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@ -22,6 +22,28 @@ FIND_LIBRARY(
/usr/local/lib64 /usr/local/lib64
/usr/lib /usr/lib
/usr/lib64 /usr/lib64
/usr/lib/x86_64-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) INCLUDE(FindPackageHandleStandardArgs)

46
cmake/Modules/Findlibiio.cmake
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@ -3,7 +3,7 @@ PKG_CHECK_MODULES(PC_LIBIIO libiio)
FIND_PATH( FIND_PATH(
LIBIIO_INCLUDE_DIRS LIBIIO_INCLUDE_DIRS
NAMES gnuradio/iio/api.h NAMES iio.h
HINTS $ENV{LIBIIO_DIR}/include HINTS $ENV{LIBIIO_DIR}/include
${PC_LIBIIO_INCLUDEDIR} ${PC_LIBIIO_INCLUDEDIR}
PATHS ${CMAKE_INSTALL_PREFIX}/include PATHS ${CMAKE_INSTALL_PREFIX}/include
@ -14,7 +14,7 @@ FIND_PATH(
FIND_LIBRARY( FIND_LIBRARY(
LIBIIO_LIBRARIES LIBIIO_LIBRARIES
NAMES libiio.so iio NAMES iio libiio.so.0
HINTS $ENV{LIBIIO_DIR}/lib HINTS $ENV{LIBIIO_DIR}/lib
${PC_LIBIIO_LIBDIR} ${PC_LIBIIO_LIBDIR}
PATHS ${CMAKE_INSTALL_PREFIX}/lib PATHS ${CMAKE_INSTALL_PREFIX}/lib
@ -24,27 +24,27 @@ FIND_LIBRARY(
/usr/lib /usr/lib
/usr/lib64 /usr/lib64
/usr/lib/x86_64-linux-gnu /usr/lib/x86_64-linux-gnu
/usr/lib/gcc/alpha-linux-gnu /usr/lib/alpha-linux-gnu
/usr/lib/gcc/aarch64-linux-gnu /usr/lib/aarch64-linux-gnu
/usr/lib/gcc/arm-linux-gnueabi /usr/lib/arm-linux-gnueabi
/usr/lib/gcc/arm-linux-gnueabihf /usr/lib/arm-linux-gnueabihf
/usr/lib/gcc/hppa-linux-gnu /usr/lib/hppa-linux-gnu
/usr/lib/gcc/i686-gnu /usr/lib/i686-gnu
/usr/lib/gcc/i686-linux-gnu /usr/lib/i686-linux-gnu
/usr/lib/gcc/x86_64-kfreebsd-gnu /usr/lib/x86_64-kfreebsd-gnu
/usr/lib/gcc/i686-kfreebsd-gnu /usr/lib/i686-kfreebsd-gnu
/usr/lib/gcc/m68k-linux-gnu /usr/lib/m68k-linux-gnu
/usr/lib/gcc/mips-linux-gnu /usr/lib/mips-linux-gnu
/usr/lib/gcc/mips64el-linux-gnuabi64 /usr/lib/mips64el-linux-gnuabi64
/usr/lib/gcc/mipsel-linux-gnu /usr/lib/mipsel-linux-gnu
/usr/lib/gcc/powerpc-linux-gnu /usr/lib/powerpc-linux-gnu
/usr/lib/gcc/powerpc-linux-gnuspe /usr/lib/powerpc-linux-gnuspe
/usr/lib/gcc/powerpc64-linux-gnu /usr/lib/powerpc64-linux-gnu
/usr/lib/gcc/powerpc64le-linux-gnu /usr/lib/powerpc64le-linux-gnu
/usr/lib/gcc/s390x-linux-gnu /usr/lib/s390x-linux-gnu
/usr/lib/gcc/sparc64-linux-gnu /usr/lib/sparc64-linux-gnu
/usr/lib/gcc/x86_64-linux-gnux32 /usr/lib/x86_64-linux-gnux32
/usr/lib/gcc/sh4-linux-gnu /usr/lib/sh4-linux-gnu
/Library/Frameworks/iio.framework/ /Library/Frameworks/iio.framework/
) )

156
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -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<float>(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) void pcps_acquisition::acquisition_core(unsigned long int samp_count)
{ {
gr::thread::scoped_lock lk(d_setlock); 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; 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<float>(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;
}

4
src/algorithms/channel/adapters/channel.cc
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@ -108,8 +108,6 @@ Channel::Channel(ConfigurationInterface* configuration, unsigned int channel,
// Destructor // Destructor
Channel::~Channel() {} Channel::~Channel() {}
void Channel::connect(gr::top_block_sptr top_block) void Channel::connect(gr::top_block_sptr top_block)
{ {
if (connected_) if (connected_)
@ -137,8 +135,6 @@ void Channel::connect(gr::top_block_sptr top_block)
DLOG(INFO) << "tracking -> telemetry_decoder"; DLOG(INFO) << "tracking -> telemetry_decoder";
// Message ports // 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(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")); top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));

2
src/algorithms/libs/gnss_circular_deque.h
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@ -2,7 +2,7 @@
* \file gnss_circular_deque.h * \file gnss_circular_deque.h
* \brief This class implements a circular deque for Gnss_Synchro * \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. * Detailed description of the file here if needed.
* *

9
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
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@ -62,6 +62,7 @@ endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# Enable C++17 support in GCC >= 8.0.0 # Enable C++17 support in GCC >= 8.0.0
# Enable C++14 support in 8.0.0 > GCC >= 6.1.1 # Enable C++14 support in 8.0.0 > GCC >= 6.1.1
# Fallback to C++11 when using GCC < 6.1.1 # Fallback to C++11 when using GCC < 6.1.1
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1") if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
@ -75,8 +76,8 @@ if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html set(MY_CXX_FLAGS "${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) endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
# Enable C++17 support in Clang >= 6.0.0 or AppleClang >= 900 # Enable C++17 support in Clang >= 6.0.0
# Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or 900 > AppleClang >= 600 # Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or AppleClang >= 600
# Fallback to C++11 if older version # Fallback to C++11 if older version
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(CMAKE_SYSTEM_NAME MATCHES "Darwin") if(CMAKE_SYSTEM_NAME MATCHES "Darwin")
@ -84,11 +85,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(CLANG_VERSION VERSION_LESS "600") if(CLANG_VERSION VERSION_LESS "600")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
else(CLANG_VERSION VERSION_LESS "600") else(CLANG_VERSION VERSION_LESS "600")
if(CLANG_VERSION VERSION_LESS "900")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14") set(MY_CXX_FLAGS "${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")
endif(CLANG_VERSION VERSION_LESS "600") endif(CLANG_VERSION VERSION_LESS "600")
else(CMAKE_SYSTEM_NAME MATCHES "Darwin") else(CMAKE_SYSTEM_NAME MATCHES "Darwin")
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0") if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")

107
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -63,8 +63,8 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
d_dump_filename = dump_filename; d_dump_filename = dump_filename;
T_rx_s = 0.0; T_rx_s = 0.0;
T_rx_step_s = 0.001; // 1 ms T_rx_step_s = 0.001; // 1 ms
max_delta = 3.5; // 3.5 s max_delta = 1.5; // 1.5 s
d_latency = 0.08; // 80 ms d_latency = 0.3; // 300 ms
valid_channels.resize(d_nchannels, false); valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0; d_num_valid_channels = 0;
d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels); d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels);
@ -306,21 +306,18 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned i
{ {
return false; return false;
} }
std::pair<unsigned int, unsigned int> 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) //Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
// CARRIER PHASE INTERPOLATION // CARRIER PHASE INTERPOLATION
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);
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);
// CARRIER DOPPLER INTERPOLATION // CARRIER DOPPLER INTERPOLATION
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);
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);
// TOW INTERPOLATION // TOW INTERPOLATION
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);
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);
return true; return true;
} }
@ -338,49 +335,50 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
} }
} }
std::pair<unsigned int, unsigned int> 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; unsigned int closest = 0;
double dif = std::numeric_limits<double>::max(); double dif = std::numeric_limits<double>::max();
double dt = 0.0; double dt = 0.0;
for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++) for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++)
{ {
dt = ti - d_gnss_synchro_history->at(ch, i).RX_time; dt = std::fabs(ti - d_gnss_synchro_history->at(ch, i).RX_time);
if (dt < dif and dt > 0.0) if (dt < dif)
{ {
dif = dt;
closest = i; closest = i;
} dif = dt;
}
unsigned int index1;
unsigned int index2;
if (closest == 0)
{
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;
} }
else else
{ {
index1 = closest; break;
index2 = closest + 1; }
}
if (ti > d_gnss_synchro_history->at(ch, closest).RX_time)
{
while (closest > 0)
{
d_gnss_synchro_history->pop_front(ch);
closest--;
}
}
else
{
while (closest > 1)
{
d_gnss_synchro_history->pop_front(ch);
closest--;
}
} }
return std::pair<unsigned int, unsigned int>(index1, index2);
} }
void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), void hybrid_observables_cc::forecast(int noutput_items, gr_vector_int &ninput_items_required)
gr_vector_int &ninput_items_required)
{ {
for (unsigned int i = 0; i < d_nchannels; i++) for (unsigned int i = 0; i < d_nchannels; i++)
{ {
ninput_items_required[i] = 0; ninput_items_required[i] = 0;
} }
ninput_items_required[d_nchannels] = 1; ninput_items_required[d_nchannels] = noutput_items;
} }
@ -460,22 +458,25 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
unsigned int i; unsigned int i;
unsigned int returned_elements = 0;
int total_input_items = 0; int total_input_items = 0;
for (i = 0; i < d_nchannels; i++) for (i = 0; i < d_nchannels; i++)
{ {
total_input_items += ninput_items[i]; total_input_items += ninput_items[i];
} }
consume(d_nchannels, 1); for (int epoch = 0; epoch < ninput_items[d_nchannels]; epoch++)
{
T_rx_s += T_rx_step_s; T_rx_s += T_rx_step_s;
////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////
if ((total_input_items == 0) and (d_num_valid_channels == 0)) if ((total_input_items == 0) and (d_num_valid_channels == 0))
{ {
return 0; consume(d_nchannels, epoch + 1);
return returned_elements;
} }
////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////
if (total_input_items > 0) if (total_input_items > 0 and epoch == 0)
{ {
for (i = 0; i < d_nchannels; i++) for (i = 0; i < d_nchannels; i++)
{ {
@ -517,7 +518,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
// Check if there is any valid channel after reading the new incoming Gnss_Synchro data // Check if there is any valid channel after reading the new incoming Gnss_Synchro data
if (d_num_valid_channels == 0) if (d_num_valid_channels == 0)
{ {
return 0; consume(d_nchannels, epoch + 1);
return returned_elements;
} }
for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold
@ -537,7 +539,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
double T_rx_s_out = T_rx_s - d_latency; double T_rx_s_out = T_rx_s - d_latency;
if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0)) if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0))
{ {
return 0; consume(d_nchannels, epoch + 1);
return returned_elements;
} }
std::vector<Gnss_Synchro> epoch_data; std::vector<Gnss_Synchro> epoch_data;
@ -559,7 +562,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
d_num_valid_channels = valid_channels.count(); d_num_valid_channels = valid_channels.count();
if (d_num_valid_channels == 0) if (d_num_valid_channels == 0)
{ {
return 0; consume(d_nchannels, epoch + 1);
return returned_elements;
} }
correct_TOW_and_compute_prange(epoch_data); correct_TOW_and_compute_prange(epoch_data);
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin(); std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
@ -567,14 +571,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
{ {
if (valid_channels[i]) if (valid_channels[i])
{ {
out[i][0] = (*it); out[i][epoch] = (*it);
out[i][0].Flag_valid_pseudorange = true; out[i][epoch].Flag_valid_pseudorange = true;
it++; it++;
} }
else else
{ {
out[i][0] = Gnss_Synchro(); out[i][epoch] = Gnss_Synchro();
out[i][0].Flag_valid_pseudorange = false; out[i][epoch].Flag_valid_pseudorange = false;
} }
} }
if (d_dump) if (d_dump)
@ -585,19 +589,19 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
double tmp_double; double tmp_double;
for (i = 0; i < d_nchannels; i++) 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<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&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<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&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<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&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<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = out[i][0].Pseudorange_m; tmp_double = out[i][epoch].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(out[i][0].PRN); tmp_double = static_cast<double>(out[i][epoch].PRN);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(out[i][0].Flag_valid_pseudorange); tmp_double = static_cast<double>(out[i][epoch].Flag_valid_pseudorange);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
} }
} }
@ -607,5 +611,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
d_dump = false; d_dump = false;
} }
} }
return 1; returned_elements++;
}
consume(d_nchannels, ninput_items[d_nchannels]);
return returned_elements;
} }

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h
View File

@ -68,7 +68,7 @@ private:
void clean_history(unsigned int pos); void clean_history(unsigned int pos);
double compute_T_rx_s(const Gnss_Synchro& a); double compute_T_rx_s(const Gnss_Synchro& a);
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti); bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
std::pair<unsigned int, unsigned int> 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<Gnss_Synchro>& data); void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
int save_matfile(); int save_matfile();

70
src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc
View File

@ -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<gr_complex *>(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) void rtl_tcp_signal_source_c::set_frequency(int frequency)
{ {
boost::system::error_code ec = 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)); 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<gr_complex *>(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;
}

29
src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc
View File

@ -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<int>(data) < two_compl_thres)
{
res = static_cast<int>(data);
}
else
{
res = static_cast<int>(data) - adc_bits_two_pow;
}
return res;
}
int unpack_spir_gss6450_samples::work(int noutput_items, int unpack_spir_gss6450_samples::work(int noutput_items,
gr_vector_const_void_star& input_items, gr_vector_void_star& output_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; return noutput_items;
} }
int unpack_spir_gss6450_samples::compute_two_complement(unsigned long data)
{
int res = 0;
if (static_cast<int>(data) < two_compl_thres)
{
res = static_cast<int>(data);
}
else
{
res = static_cast<int>(data) - adc_bits_two_pow;
}
return res;
}

7
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
View File

@ -37,10 +37,15 @@ include_directories(
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS} ${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
) )
file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h") file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h")
list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS) list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${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}) 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)

137
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
View File

@ -37,6 +37,7 @@
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <glog/logging.h> #include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <iostream> #include <iostream>
@ -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) 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<int *>(calloc(max_states, sizeof(int)));
out1 = static_cast<int *>(calloc(max_states, sizeof(int)));
state0 = static_cast<int *>(calloc(max_states, sizeof(int)));
state1 = static_cast<int *>(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, Viterbi(page_part_bits, out0, state0, out1, state1,
page_part_symbols, KK, nn, DataLength); page_part_symbols, KK, nn, DataLength);
/* Clean up memory */
free(out0);
free(out1);
free(state0);
free(state1);
} }
@ -106,8 +77,6 @@ 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)), 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))) 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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -124,7 +93,7 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
memcpy(static_cast<unsigned short int *>(this->d_preambles_bits), static_cast<unsigned short int *>(preambles_bits), GALILEO_INAV_PREAMBLE_LENGTH_BITS * sizeof(unsigned short int)); memcpy(static_cast<unsigned short int *>(this->d_preambles_bits), static_cast<unsigned short int *>(preambles_bits), GALILEO_INAV_PREAMBLE_LENGTH_BITS * sizeof(unsigned short int));
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preambles_symbols = static_cast<signed int *>(malloc(sizeof(signed int) * d_symbols_per_preamble)); d_preambles_symbols = static_cast<int *>(volk_gnsssdr_malloc(d_symbols_per_preamble * sizeof(int), volk_gnsssdr_get_alignment()));
int n = 0; int n = 0;
for (int i = 0; i < GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++) for (int i = 0; i < GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
{ {
@ -155,12 +124,28 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
d_flag_preamble = false; d_flag_preamble = false;
d_channel = 0; d_channel = 0;
flag_TOW_set = false; 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<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
out1 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
state0 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
state1 = static_cast<int *>(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() 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) if (d_dump_file.is_open() == true)
{ {
try try
@ -215,13 +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); d_nav.split_page(page_String, flag_even_word_arrived);
if (d_nav.flag_CRC_test == true) 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; //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
} }
else else
{ {
std::cout << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; std::cout << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl;
LOG(INFO) << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite;
} }
flag_even_word_arrived = 0; flag_even_word_arrived = 0;
} }
@ -237,21 +222,21 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris()); std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_iono_and_GST() == true) if (d_nav.have_new_iono_and_GST() == true)
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono()); std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_utc_model() == true) if (d_nav.have_new_utc_model() == true)
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model()); std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_almanac() == true) if (d_nav.have_new_almanac() == true)
@ -259,7 +244,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in
std::shared_ptr<Galileo_Almanac> tmp_obj = std::make_shared<Galileo_Almanac>(d_nav.get_almanac()); std::shared_ptr<Galileo_Almanac> tmp_obj = std::make_shared<Galileo_Almanac>(d_nav.get_almanac());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
//debug //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) << "GPS_to_Galileo time conversion:";
DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10; DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10;
DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10; DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10;
@ -274,6 +259,41 @@ 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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -469,38 +489,3 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute
//std::cout<<"GPS L1 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl; //std::cout<<"GPS L1 TLM output on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter/d_decimation_output_factor<<std::endl;
return 1; return 1;
} }
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<std::string>(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();
}
}
}
}

9
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
View File

@ -112,6 +112,15 @@ private:
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; 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 #endif

136
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
View File

@ -37,9 +37,11 @@
#include "galileo_e5a_telemetry_decoder_cc.h" #include "galileo_e5a_telemetry_decoder_cc.h"
#include "control_message_factory.h" #include "control_message_factory.h"
#include "convolutional.h" #include "convolutional.h"
#include "display.h"
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <glog/logging.h> #include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> #include <cmath>
#include <iostream> #include <iostream>
@ -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) 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<int *>(calloc(max_states, sizeof(int)));
out1 = static_cast<int *>(calloc(max_states, sizeof(int)));
state0 = static_cast<int *>(calloc(max_states, sizeof(int)));
state1 = static_cast<int *>(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, Viterbi(page_part_bits, out0, state0, out1, state1,
page_part_symbols, KK, nn, DataLength); 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); d_nav.split_page(page_String);
if (d_nav.flag_CRC_test == true) 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; //std::cout << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
} }
else else
{ {
std::cout << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; std::cout << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl;
LOG(INFO) << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite;
} }
// 4. Push the new navigation data to the queues // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) if (d_nav.have_new_ephemeris() == true)
{ {
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris()); std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_iono_and_GST() == true) if (d_nav.have_new_iono_and_GST() == true)
{ {
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono()); std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_utc_model() == true) if (d_nav.have_new_utc_model() == true)
{ {
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model()); std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
} }
@ -183,8 +151,6 @@ 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)),
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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -228,11 +194,27 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
flag_bit_start = false; flag_bit_start = false;
new_symbol = false; new_symbol = false;
required_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS; 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<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
out1 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
state0 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
state1 = static_cast<int *>(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() 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) if (d_dump_file.is_open() == true)
{ {
try try
@ -247,6 +229,41 @@ 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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -493,38 +510,3 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute
return 0; 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<std::string>(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();
}
}
}
}

9
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h
View File

@ -112,6 +112,15 @@ private:
Gnss_Satellite d_satellite; Gnss_Satellite d_satellite;
// navigation message vars // navigation message vars
Galileo_Fnav_Message d_nav; 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_ */ #endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */

90
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -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)), 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))) 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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -183,11 +181,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in
// 3. Check operation executed correctly // 3. Check operation executed correctly
if (d_nav.flag_CRC_test == true) 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 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 // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) if (d_nav.have_new_ephemeris() == true)
@ -196,26 +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(); d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris()); std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); 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) if (d_nav.have_new_utc_model() == true)
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model()); std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); 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) if (d_nav.have_new_almanac() == true)
{ {
unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number; unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr)); std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); 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 // 5. Update satellite information on system
if (d_nav.flag_update_slot_number == true) 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.update_PRN(d_nav.gnav_ephemeris.d_n);
d_satellite.what_block(d_satellite.get_system(), 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; d_nav.flag_update_slot_number = false;
@ -223,6 +224,41 @@ 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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -285,9 +321,6 @@ 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; 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_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2; 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<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) - 0.001);
this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
} }
else else
{ {
@ -413,38 +446,3 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
return 1; 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<std::string>(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();
}
}
}
}

93
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
View File

@ -31,9 +31,10 @@
#include "glonass_l2_ca_telemetry_decoder_cc.h" #include "glonass_l2_ca_telemetry_decoder_cc.h"
#include "display.h"
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h>
#define CRC_ERROR_LIMIT 6 #define CRC_ERROR_LIMIT 6
@ -53,8 +54,6 @@ 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)), 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))) 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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -182,11 +181,11 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in
// 3. Check operation executed correctly // 3. Check operation executed correctly
if (d_nav.flag_CRC_test == true) 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 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 // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) if (d_nav.have_new_ephemeris() == true)
@ -195,26 +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(); d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link();
std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris()); std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); 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) if (d_nav.have_new_utc_model() == true)
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model()); std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); 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) if (d_nav.have_new_almanac() == true)
{ {
unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number; unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number;
std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr)); std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); 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 // 5. Update satellite information on system
if (d_nav.flag_update_slot_number == true) 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.update_PRN(d_nav.gnav_ephemeris.d_n);
d_satellite.what_block(d_satellite.get_system(), 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; d_nav.flag_update_slot_number = false;
@ -222,6 +224,41 @@ 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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -284,9 +321,6 @@ 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; 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_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2; 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<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) - 0.001);
this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
} }
else else
{ {
@ -412,38 +446,3 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
return 1; 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<std::string>(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();
}
}
}
}

118
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -32,8 +32,9 @@
#include "gps_l1_ca_telemetry_decoder_cc.h" #include "gps_l1_ca_telemetry_decoder_cc.h"
#include "control_message_factory.h" #include "control_message_factory.h"
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#ifndef _rotl #ifndef _rotl
@ -54,8 +55,6 @@ 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)), 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))) 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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -65,10 +64,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
// set the preamble // set the preamble
unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_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 // preamble bits to sampled symbols
d_preambles_symbols = static_cast<signed int *>(malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_SYMBOLS)); d_preambles_symbols = static_cast<int *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int), volk_gnsssdr_get_alignment()));
int n = 0; int n = 0;
for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++) for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
{ {
@ -107,12 +104,14 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_TOW_at_current_symbol_ms = 0; d_TOW_at_current_symbol_ms = 0;
d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS + 1); // Change fixed buffer size 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_symbol_history.clear(); // Clear all the elements in the buffer
d_make_correlation = true;
d_symbol_counter_corr = 0;
} }
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) if (d_dump_file.is_open() == true)
{ {
try try
@ -152,6 +151,44 @@ 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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -170,7 +207,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
unsigned int required_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS; unsigned int required_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS;
d_flag_preamble = false; d_flag_preamble = false;
if (d_symbol_history.size() > required_symbols) if ((d_symbol_history.size() > required_symbols) and (d_make_correlation or !d_flag_frame_sync))
{ {
//******* preamble correlation ******** //******* preamble correlation ********
for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++) for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
@ -179,19 +216,22 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
{ {
if (d_symbol_history.at(i).Prompt_I < 0) // symbols clipping 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 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) break; }
if (std::abs(corr_value) >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
{
d_symbol_counter_corr++;
} }
} }
//******* frame sync ****************** //******* 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 //TODO: Rewrite with state machine
if (d_stat == 0) if (d_stat == 0)
@ -208,18 +248,17 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
} }
else if (d_stat == 1) //check 6 seconds of preamble separation else if (d_stat == 1) //check 6 seconds of preamble separation
{ {
preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0); preamble_diff_ms = std::round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0);
if (abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1) if (std::abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1)
{ {
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite; DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite;
d_GPS_FSM.Event_gps_word_preamble(); d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true; 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 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) 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<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) - 0.001);
this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
d_flag_frame_sync = true; d_flag_frame_sync = true;
if (corr_value < 0) if (corr_value < 0)
{ {
@ -238,6 +277,11 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
} }
else 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) if (d_stat == 1)
{ {
preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0); preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0);
@ -247,6 +291,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
d_stat = 0; //lost of frame sync d_stat = 0; //lost of frame sync
d_flag_frame_sync = false; d_flag_frame_sync = false;
flag_TOW_set = false; flag_TOW_set = false;
d_make_correlation = true;
d_symbol_counter_corr = 0;
} }
} }
} }
@ -402,41 +448,3 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
return 1; 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<std::string>(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();
}
}
}
}

4
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@ -84,6 +84,10 @@ private:
double d_symbol_accumulator; double d_symbol_accumulator;
short int d_symbol_accumulator_counter; short int d_symbol_accumulator_counter;
// symbol counting
bool d_make_correlation;
unsigned int d_symbol_counter_corr;
//bits and frame //bits and frame
unsigned short int d_frame_bit_index; unsigned short int d_frame_bit_index;
unsigned int d_GPS_frame_4bytes; unsigned int d_GPS_frame_4bytes;

78
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
View File

@ -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)),
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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -92,6 +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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -133,20 +166,20 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{ {
// get ephemeris object for this SV // get ephemeris object for this SV
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris()); std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_iono() == true) if (d_CNAV_Message.have_new_iono() == true)
{ {
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono()); std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_utc_model() == true) if (d_CNAV_Message.have_new_utc_model() == true)
{ {
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model()); std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
@ -195,38 +228,3 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
out[0] = current_synchro_data; out[0] = current_synchro_data;
return 1; 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<std::string>(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();
}
}
}
}

90
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc
View File

@ -1,7 +1,6 @@
/*! /*!
* \file gps_l5_telemetry_decoder_cc.cc * \file gps_l5_telemetry_decoder_cc.cc
* \brief Implementation of a NAV message demodulator block based on * \brief Implementation of a CNAV message demodulator block
* Kay Borre book MATLAB-based GPS receiver
* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
@ -31,12 +30,13 @@
#include "gps_l5_telemetry_decoder_cc.h" #include "gps_l5_telemetry_decoder_cc.h"
#include "display.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "gps_cnav_ephemeris.h" #include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h" #include "gps_cnav_iono.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <bitset> #include <bitset>
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
@ -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)),
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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -102,6 +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<std::string>(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)), 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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
@ -183,20 +218,20 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
{ {
// get ephemeris object for this SV // get ephemeris object for this SV
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris()); std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_iono() == true) if (d_CNAV_Message.have_new_iono() == true)
{ {
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono()); std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_utc_model() == true) if (d_CNAV_Message.have_new_utc_model() == true)
{ {
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model()); std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(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)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
@ -245,40 +280,3 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
out[0] = current_synchro_data; out[0] = current_synchro_data;
return 1; 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<std::string>(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();
}
}
}
}

6
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h
View File

@ -1,7 +1,6 @@
/*! /*!
* \file gps_l5_telemetry_decoder_cc.h * \file gps_l5_telemetry_decoder_cc.h
* \brief Interface of a CNAV message demodulator block based on * \brief Interface of a CNAV message demodulator block
* Kay Borre book MATLAB-based GPS receiver
* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -42,7 +41,8 @@
#include <utility> #include <utility>
#include <vector> #include <vector>
extern "C" { extern "C"
{
#include "cnav_msg.h" #include "cnav_msg.h"
#include "edc.h" #include "edc.h"
#include "bits.h" #include "bits.h"

170
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
View File

@ -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)),
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 // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars // initialize internal vars
@ -89,88 +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<Gnss_Synchro *>(output_items[0]); // Get the output buffer pointer
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(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<double>(in[0].Tracking_sample_counter) / static_cast<double>(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<double> 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<int> 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_candiate_int_t> msg_candidates;
d_frame_detector.get_frame_candidates(bits, msg_candidates);
// verify checksum
// and return the valid messages
std::vector<msg_candiate_char_t> 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_Msg> sbas_raw_msgs;
for (std::vector<msg_candiate_char_t>::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<double>(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<Sbas_Raw_Msg>::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) void sbas_l1_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{ {
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -186,7 +102,6 @@ void sbas_l1_telemetry_decoder_cc::set_channel(int channel)
// ### helper class for sample alignment ### // ### helper class for sample alignment ###
sbas_l1_telemetry_decoder_cc::sample_aligner::sample_aligner() sbas_l1_telemetry_decoder_cc::sample_aligner::sample_aligner()
{ {
d_n_smpls_in_history = 3; d_n_smpls_in_history = 3;
@ -405,12 +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 ### // ### 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::reset()
{ {
} }
void sbas_l1_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_char_t> &valid_msgs) void sbas_l1_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_char_t> &valid_msgs)
{ {
std::stringstream ss; std::stringstream ss;
@ -502,3 +416,85 @@ void sbas_l1_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_b
<< std::setfill('0') << std::hex << static_cast<unsigned int>(byte) << std::setfill('0') << std::hex << static_cast<unsigned int>(byte)
<< std::setfill(' ') << std::resetiosflags(std::ios::hex); << 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<Gnss_Synchro *>(output_items[0]); // Get the output buffer pointer
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(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<double>(in[0].Tracking_sample_counter) / static_cast<double>(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<double> 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<int> 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_candiate_int_t> msg_candidates;
d_frame_detector.get_frame_candidates(bits, msg_candidates);
// verify checksum
// and return the valid messages
std::vector<msg_candiate_char_t> 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_Msg> sbas_raw_msgs;
for (std::vector<msg_candiate_char_t>::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<double>(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<Sbas_Raw_Msg>::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
}

12
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
View File

@ -39,13 +39,16 @@
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE ********** //************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid>
{ {
}; };
struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid> struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>
{ {
}; };
struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble> struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>
{ {
}; };
@ -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); std::memcpy(&d_subframe[position * GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char) * GPS_WORD_LENGTH);
} }
void GpsL1CaSubframeFsm::clear_flag_new_subframe() void GpsL1CaSubframeFsm::clear_flag_new_subframe()
{ {
d_flag_new_subframe = false; d_flag_new_subframe = false;
} }
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg() void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
{ {
//int subframe_ID; //int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED! // NEW GPS SUBFRAME HAS ARRIVED!
d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe 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 " << d_subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl; << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
d_nav.i_satellite_PRN = i_satellite_PRN; d_nav.i_satellite_PRN = i_satellite_PRN;
@ -263,6 +270,7 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
d_flag_new_subframe = true; d_flag_new_subframe = true;
} }
void GpsL1CaSubframeFsm::Event_gps_word_valid() void GpsL1CaSubframeFsm::Event_gps_word_valid()
{ {
this->process_event(Ev_gps_word_valid()); this->process_event(Ev_gps_word_valid());

21
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -82,7 +82,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
{ {
trk_parameters = conf_; trk_parameters = conf_;
// Telemetry bit synchronization message port input // 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->message_port_register_out(pmt::mp("events"));
this->set_relative_rate(1.0 / static_cast<double>(trk_parameters.vector_length)); this->set_relative_rate(1.0 / static_cast<double>(trk_parameters.vector_length));
@ -363,13 +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_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby d_state = 0; // initial state: standby
signal_pretty_name["1C"] = "L1 C/A"; map_signal_pretty_name["1C"] = "L1 C/A";
signal_pretty_name["1B"] = "E1"; map_signal_pretty_name["1B"] = "E1";
signal_pretty_name["1G"] = "L1 C/A"; map_signal_pretty_name["1G"] = "L1 C/A";
signal_pretty_name["2S"] = "L2C"; map_signal_pretty_name["2S"] = "L2C";
signal_pretty_name["2G"] = "L2 C/A"; map_signal_pretty_name["2G"] = "L2 C/A";
signal_pretty_name["5X"] = "E5a"; map_signal_pretty_name["5X"] = "E5a";
signal_pretty_name["L5"] = "L5"; map_signal_pretty_name["L5"] = "L5";
signal_pretty_name = map_signal_pretty_name[signal_type];
} }
@ -512,7 +513,7 @@ void dll_pll_veml_tracking::start_tracking()
d_code_loop_filter.set_pdi(static_cast<float>(d_code_period)); d_code_loop_filter.set_pdi(static_cast<float>(d_code_period));
// DEBUG OUTPUT // 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; LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking pull-in // enable tracking pull-in
@ -1264,7 +1265,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
next_state = acquire_secondary(); next_state = acquire_secondary();
if (next_state) 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; << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
} }

3
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -119,7 +119,8 @@ private:
std::string systemName; std::string systemName;
std::string signal_type; std::string signal_type;
std::string *d_secondary_code_string; std::string *d_secondary_code_string;
std::map<std::string, std::string> signal_pretty_name; std::map<std::string, std::string> map_signal_pretty_name;
std::string signal_pretty_name;
//tracking state machine //tracking state machine
int d_state; int d_state;

2
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
View File

@ -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)), 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))) 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->message_port_register_out(pmt::mp("events"));
this->set_relative_rate(1.0 / vector_length); this->set_relative_rate(1.0 / vector_length);
// initialize internal vars // initialize internal vars

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
View File

@ -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)), 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))) 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->message_port_register_out(pmt::mp("events"));
// initialize internal vars // initialize internal vars

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc
View File

@ -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)), 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))) 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->message_port_register_out(pmt::mp("events"));
// initialize internal vars // initialize internal vars

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
View File

@ -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)), 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))) 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->message_port_register_out(pmt::mp("events"));
// initialize internal vars // initialize internal vars
d_dump = dump; d_dump = dump;

1
src/core/receiver/control_thread.cc
View File

@ -148,6 +148,7 @@ void ControlThread::run()
std::cout << "Stopping GNSS-SDR, please wait!" << std::endl; std::cout << "Stopping GNSS-SDR, please wait!" << std::endl;
flowgraph_->stop(); flowgraph_->stop();
stop_ = true; stop_ = true;
flowgraph_->disconnect();
//Join keyboard thread //Join keyboard thread
#ifdef OLD_BOOST #ifdef OLD_BOOST

354
src/core/receiver/gnss_flowgraph.cc
View File

@ -5,11 +5,9 @@
* Luis Esteve, 2012. luis(at)epsilon-formacion.com * Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* *
* Detailed description of the file here if needed.
*
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* 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 * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -60,7 +58,15 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configurati
} }
GNSSFlowgraph::~GNSSFlowgraph() {} GNSSFlowgraph::~GNSSFlowgraph()
{
if (connected_)
{
GNSSFlowgraph::disconnect();
}
}
void GNSSFlowgraph::start() void GNSSFlowgraph::start()
{ {
if (running_) if (running_)
@ -93,10 +99,9 @@ void GNSSFlowgraph::stop()
void GNSSFlowgraph::connect() void GNSSFlowgraph::connect()
{ {
/* Connects the blocks in the flowgraph // Connects the blocks in the flow graph
* // Signal Source > Signal conditioner >> Channels >> Observables >> PVT
* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
*/
LOG(INFO) << "Connecting flowgraph"; LOG(INFO) << "Connecting flowgraph";
if (connected_) if (connected_)
{ {
@ -267,7 +272,6 @@ void GNSSFlowgraph::connect()
return; return;
} }
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID; int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -301,26 +305,46 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all(); top_block_->disconnect_all();
return; return;
} }
}
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal! // Put channels fixed to a given satellite at the beginning of the vector, then the rest
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false)); std::vector<unsigned int> vector_of_channels;
for (unsigned int i = 0; i < channels_count_; i++)
if (channels_state_[i] == 1)
{ {
channels_.at(i)->start_acquisition(); unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
available_GNSS_signals_.pop_front(); if (sat == 0)
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 else
{ {
LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; auto it = vector_of_channels.begin();
it = vector_of_channels.insert(it, i);
} }
} }
/* // Assign satellites to channels in the initialization
* Connect the observables output of each channel to the PVT block 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<std::string>(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 try
{ {
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -337,12 +361,204 @@ void GNSSFlowgraph::connect()
return; 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; connected_ = true;
LOG(INFO) << "Flowgraph connected"; LOG(INFO) << "Flowgraph connected";
top_block_->dump(); top_block_->dump();
} }
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<std::string>(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() void GNSSFlowgraph::wait()
{ {
if (!running_) if (!running_)
@ -374,50 +590,64 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{ {
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(who) + ".satellite", 0);
switch (what) switch (what)
{ {
case 0: 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();
available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); if (sat == 0)
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(); std::lock_guard<std::mutex> lock(signal_list_mutex);
channels_.at(who)->start_acquisition(); 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_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
channels_[who]->start_acquisition();
break; break;
case 1: 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; channels_state_[who] = 2;
acq_channels_count_--; acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
{ {
unsigned int sat_ = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0)) if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{ {
channels_state_[i] = 1; channels_state_[i] = 1;
channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); if (sat_ == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true));
}
acq_channels_count_++; 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(); DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
channels_.at(i)->start_acquisition(); channels_[i]->start_acquisition();
} }
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i]; DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
} }
break; break;
case 2: 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_; DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_;
if (acq_channels_count_ < max_acq_channels_) if (acq_channels_count_ < max_acq_channels_)
{ {
channels_state_[who] = 1; channels_state_[who] = 1;
acq_channels_count_++; 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(); LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
channels_.at(who)->start_acquisition(); channels_[who]->start_acquisition();
} }
else else
{ {
channels_state_[who] = 0; channels_state_[who] = 0;
LOG(INFO) << "Channel " << who << " Idle state"; LOG(INFO) << "Channel " << who << " Idle state";
available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); if (sat == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
available_GNSS_signals_.push_back(channels_[who]->get_signal());
}
} }
break; break;
@ -436,7 +666,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
LOG(WARNING) << "Unable to update configuration while flowgraph running"; LOG(WARNING) << "Unable to update configuration while flowgraph running";
return; return;
} }
if (connected_) if (connected_)
{ {
LOG(WARNING) << "Unable to update configuration while flowgraph connected"; LOG(WARNING) << "Unable to update configuration while flowgraph connected";
@ -521,7 +750,6 @@ void GNSSFlowgraph::init()
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_); std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
//todo:check smart pointer coherence...
channels_count_ = channels->size(); channels_count_ = channels->size();
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
{ {
@ -541,34 +769,19 @@ void GNSSFlowgraph::init()
void GNSSFlowgraph::set_signals_list() void GNSSFlowgraph::set_signals_list()
{ {
/* // Set a sequential list of GNSS satellites
* Sets a sequential list of GNSS satellites
*/
std::set<unsigned int>::const_iterator available_gnss_prn_iter; std::set<unsigned int>::const_iterator available_gnss_prn_iter;
/* // Read GNSS systems and signals
* \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
*/
unsigned int total_channels = configuration_->property("Channels_1C.count", 0) + 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_1B.count", 0) +
configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_1G.count", 0) + configuration_->property("Channels_1G.count", 0) +
configuration_->property("Channels_2S.count", 0) +
configuration_->property("Channels_2G.count", 0) + configuration_->property("Channels_2G.count", 0) +
configuration_->property("Channels_5X.count", 0) + configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_L5.count", 0); configuration_->property("Channels_L5.count", 0);
/* // Create the lists of GNSS satellites
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, std::set<unsigned int> 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, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32}; 29, 30, 31, 32};
@ -690,6 +903,7 @@ void GNSSFlowgraph::set_signals_list()
std::string("L5"))); std::string("L5")));
} }
} }
if (configuration_->property("Channels_SBAS.count", 0) > 0) if (configuration_->property("Channels_SBAS.count", 0) > 0)
{ {
/* /*
@ -705,7 +919,6 @@ void GNSSFlowgraph::set_signals_list()
} }
} }
if (configuration_->property("Channels_1B.count", 0) > 0) if (configuration_->property("Channels_1B.count", 0) > 0)
{ {
/* /*
@ -765,39 +978,12 @@ void GNSSFlowgraph::set_signals_list()
std::string("2G"))); std::string("2G")));
} }
} }
/*
* Ordering the list of signals from configuration file
*/
std::list<Gnss_Signal>::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<std::string>(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<std::string>(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() 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_) if (max_acq_channels_ > channels_count_)
{ {
max_acq_channels_ = channels_count_; max_acq_channels_ = channels_count_;

15
src/core/receiver/gnss_flowgraph.h
View File

@ -6,7 +6,7 @@
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* *
* It contains a signal source, * 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.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -43,6 +43,7 @@
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <list> #include <list>
#include <memory> #include <memory>
#include <mutex>
#include <queue> #include <queue>
#include <string> #include <string>
#include <vector> #include <vector>
@ -67,9 +68,9 @@ public:
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue); GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue);
/*! /*!
* \brief Virtual destructor * \brief Destructor
*/ */
virtual ~GNSSFlowgraph(); ~GNSSFlowgraph();
//! \brief Start the flow graph //! \brief Start the flow graph
void start(); void start();
@ -84,13 +85,15 @@ public:
*/ */
void connect(); void connect();
void disconnect();
void wait(); void wait();
/*! /*!
* \brief Applies an action to the flow graph * \brief Applies an action to the flow graph
* *
* \param[in] who Who generated the action * \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); void apply_action(unsigned int who, unsigned int what);
@ -100,14 +103,17 @@ public:
{ {
return applied_actions_; return applied_actions_;
} }
bool connected() bool connected()
{ {
return connected_; return connected_;
} }
bool running() bool running()
{ {
return running_; return running_;
} }
/*! /*!
* \brief Sends a GNURadio asynchronous message from telemetry to PVT * \brief Sends a GNURadio asynchronous message from telemetry to PVT
* *
@ -144,6 +150,7 @@ private:
gr::msg_queue::sptr queue_; gr::msg_queue::sptr queue_;
std::list<Gnss_Signal> available_GNSS_signals_; std::list<Gnss_Signal> available_GNSS_signals_;
std::vector<unsigned int> channels_state_; std::vector<unsigned int> channels_state_;
std::mutex signal_list_mutex;
}; };
#endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/ #endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/

16
src/tests/system-tests/position_test.cc
View File

@ -277,8 +277,8 @@ int StaticPositionSystemTest::configure_receiver()
const float dll_bw_narrow_hz = 2.0; const float dll_bw_narrow_hz = 2.0;
const int extend_correlation_ms = 1; const int extend_correlation_ms = 1;
const int display_rate_ms = 1000; const int display_rate_ms = 500;
const int output_rate_ms = 1000; const int output_rate_ms = 500;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal)); config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
@ -361,12 +361,11 @@ int StaticPositionSystemTest::configure_receiver()
config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz)); 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.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 // Set Telemetry
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_1C.dump", "false"); config->set_property("TelemetryDecoder_1C.dump", "false");
config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor));
// Set Observables // Set Observables
config->set_property("Observables.implementation", "Hybrid_Observables"); config->set_property("Observables.implementation", "Hybrid_Observables");
@ -454,6 +453,7 @@ int StaticPositionSystemTest::run_receiver()
void StaticPositionSystemTest::check_results() void StaticPositionSystemTest::check_results()
{ {
std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in); 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::string line;
std::vector<double> pos_e; std::vector<double> pos_e;
@ -466,6 +466,7 @@ void StaticPositionSystemTest::check_results()
while (is_header) while (is_header)
{ {
std::getline(myfile, line); std::getline(myfile, line);
ASSERT_FALSE(myfile.eof()) << "No valid kml file found.";
std::size_t found = line.find("<coordinates>"); std::size_t found = line.find("<coordinates>");
if (found != std::string::npos) is_header = false; if (found != std::string::npos) is_header = false;
} }
@ -474,7 +475,11 @@ void StaticPositionSystemTest::check_results()
//read data //read data
while (is_data) while (is_data)
{ {
std::getline(myfile, line); if (!std::getline(myfile, line))
{
is_data = false;
break;
}
std::size_t found = line.find("</coordinates>"); std::size_t found = line.find("</coordinates>");
if (found != std::string::npos) if (found != std::string::npos)
is_data = false; is_data = false;
@ -504,6 +509,7 @@ void StaticPositionSystemTest::check_results()
} }
} }
myfile.close(); 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_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); double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);