mirror of https://github.com/gnss-sdr/gnss-sdr
277 lines
7.6 KiB
C++
277 lines
7.6 KiB
C++
/*!
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* \file gps_l1_ca_pcps_opencl_acquisition.cc
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* \brief Adapts an OpenCL PCPS acquisition block to an
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* AcquisitionInterface for GPS L1 C/A signals
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* \author Marc Molina, 2013. marc.molina.pena(at)gmail.com
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_pcps_opencl_acquisition.h"
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#include "GPS_L1_CA.h"
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#include "configuration_interface.h"
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#include "gnss_sdr_flags.h"
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#include "gps_sdr_signal_replica.h"
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#include <boost/math/distributions/exponential.hpp>
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#include <glog/logging.h>
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#include <algorithm>
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#if HAS_STD_SPAN
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#include <span>
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namespace own = std;
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#else
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#include <gsl/gsl-lite.hpp>
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namespace own = gsl;
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#endif
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GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
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const ConfigurationInterface* configuration,
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const std::string& role,
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unsigned int in_streams,
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unsigned int out_streams)
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: configuration_(configuration),
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gnss_synchro_(nullptr),
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role_(role),
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threshold_(0.0),
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channel_(0),
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doppler_step_(0),
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in_streams_(in_streams),
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out_streams_(out_streams)
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{
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const std::string default_item_type("gr_complex");
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std::string default_dump_filename = "./data/acquisition.dat";
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DLOG(INFO) << "role " << role;
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item_type_ = configuration->property(role + ".item_type",
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default_item_type);
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int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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dump_ = configuration->property(role + ".dump", false);
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doppler_max_ = configuration->property(role + ".doppler_max", 5000);
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if (FLAGS_doppler_max != 0)
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{
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doppler_max_ = FLAGS_doppler_max;
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}
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sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
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bit_transition_flag_ = configuration->property("Acquisition.bit_transition_flag", false);
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if (!bit_transition_flag_)
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{
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max_dwells_ = configuration->property(role + ".max_dwells", 1);
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}
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else
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{
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max_dwells_ = 2;
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}
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dump_filename_ = configuration->property(role + ".dump_filename",
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default_dump_filename);
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// -- Find number of samples per spreading code -------------------------
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code_length_ = static_cast<unsigned int>(round(fs_in_ / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
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vector_length_ = code_length_ * sampled_ms_;
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code_ = std::vector<std::complex<float>>(vector_length_);
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if (item_type_ == "gr_complex")
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{
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item_size_ = sizeof(gr_complex);
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acquisition_cc_ = pcps_make_opencl_acquisition_cc(sampled_ms_, max_dwells_,
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doppler_max_, fs_in_, code_length_, code_length_,
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bit_transition_flag_, dump_, dump_filename_, false);
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stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
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DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
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DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
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}
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else
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{
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item_size_ = sizeof(gr_complex);
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LOG(WARNING) << item_type_ << " unknown acquisition item type";
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}
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if (in_streams_ > 1)
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{
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LOG(ERROR) << "This implementation only supports one input stream";
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}
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if (out_streams_ > 0)
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{
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LOG(ERROR) << "This implementation does not provide an output stream";
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::stop_acquisition()
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{
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acquisition_cc_->set_active(false);
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acquisition_cc_->set_state(0);
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}
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void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
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{
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float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", static_cast<float>(0.0));
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if (pfa == 0.0)
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{
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pfa = configuration_->property(role_ + ".pfa", static_cast<float>(0.0));
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}
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if (pfa == 0.0)
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{
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threshold_ = threshold;
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}
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else
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{
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threshold_ = calculate_threshold(pfa);
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}
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DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
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if (item_type_ == "gr_complex")
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{
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acquisition_cc_->set_threshold(threshold_);
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::set_doppler_max(unsigned int doppler_max)
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{
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doppler_max_ = doppler_max;
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if (item_type_ == "gr_complex")
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{
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acquisition_cc_->set_doppler_max(doppler_max_);
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::set_doppler_step(unsigned int doppler_step)
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{
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doppler_step_ = doppler_step;
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if (item_type_ == "gr_complex")
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{
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acquisition_cc_->set_doppler_step(doppler_step_);
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
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{
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gnss_synchro_ = gnss_synchro;
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if (item_type_ == "gr_complex")
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{
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acquisition_cc_->set_gnss_synchro(gnss_synchro_);
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}
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}
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signed int GpsL1CaPcpsOpenClAcquisition::mag()
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{
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if (item_type_ == "gr_complex")
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{
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return acquisition_cc_->mag();
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}
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else
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{
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return 0;
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::init()
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{
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acquisition_cc_->init();
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}
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void GpsL1CaPcpsOpenClAcquisition::set_local_code()
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{
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if (item_type_ == "gr_complex")
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{
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std::vector<std::complex<float>> code(code_length_);
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gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
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own::span<gr_complex> code_span(code_.data(), vector_length_);
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for (unsigned int i = 0; i < sampled_ms_; i++)
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{
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std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
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}
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acquisition_cc_->set_local_code(code_.data());
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::reset()
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{
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if (item_type_ == "gr_complex")
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{
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acquisition_cc_->set_active(true);
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}
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}
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float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa) const
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{
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// Calculate the threshold
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unsigned int frequency_bins = 0;
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for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += static_cast<int>(doppler_step_))
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{
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frequency_bins++;
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}
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DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
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unsigned int ncells = vector_length_ * frequency_bins;
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double exponent = 1 / static_cast<double>(ncells);
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double val = pow(1.0 - pfa, exponent);
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auto lambda = static_cast<double>(vector_length_);
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boost::math::exponential_distribution<double> mydist(lambda);
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auto threshold = static_cast<float>(quantile(mydist, val));
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return threshold;
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}
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void GpsL1CaPcpsOpenClAcquisition::connect(gr::top_block_sptr top_block)
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{
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if (item_type_ == "gr_complex")
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{
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top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
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}
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}
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void GpsL1CaPcpsOpenClAcquisition::disconnect(gr::top_block_sptr top_block)
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{
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if (item_type_ == "gr_complex")
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{
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top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
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}
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}
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gr::basic_block_sptr GpsL1CaPcpsOpenClAcquisition::get_left_block()
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{
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return stream_to_vector_;
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}
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gr::basic_block_sptr GpsL1CaPcpsOpenClAcquisition::get_right_block()
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{
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return acquisition_cc_;
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}
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