mirror of https://github.com/gnss-sdr/gnss-sdr
121 lines
4.8 KiB
C++
121 lines
4.8 KiB
C++
/*!
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* \file galileo_e6_has_msg_receiver.h
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* \brief GNU Radio block that processes Galileo HAS message pages received from
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* Galileo E6B telemetry blocks. After successful decoding, sends the content to
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* the PVT block.
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* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
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* \author Javier Arribas, 2021. jarribas(at)cttc.es
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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) 2010-2021 (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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#ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
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#define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
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#include "Galileo_CNAV.h" // for GALILEO_CNAV_* constants
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#include "galileo_has_data.h" // for Galileo_HAS_data
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#include "gnss_block_interface.h" // for gnss_shared_ptr
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#include "nav_message_packet.h" // for Nav_Message_Packet
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#include <gnuradio/block.h> // for gr::block
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#include <pmt/pmt.h> // for pmt::pmt_t
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#include <bitset>
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#include <cstdint>
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#include <memory> // for std::unique_ptr
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#include <string>
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#include <utility> // std::pair
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#include <vector>
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/** \addtogroup Core
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* \{ */
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/** \addtogroup Core_Receiver_Library
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* \{ */
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class Galileo_HAS_page;
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class ReedSolomon;
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class galileo_e6_has_msg_receiver;
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using galileo_e6_has_msg_receiver_sptr = gnss_shared_ptr<galileo_e6_has_msg_receiver>;
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galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
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/*!
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* \brief GNU Radio block that receives asynchronous Galileo HAS message pages
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* from the telemetry blocks, stores them in memory, and decodes HAS messages
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* when enough data have been received.
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* The decoded HAS message is sent to the PVT block.
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*/
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class galileo_e6_has_msg_receiver : public gr::block
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{
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public:
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~galileo_e6_has_msg_receiver() = default; //!< Default destructor
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void set_enable_navdata_monitor(bool enable);
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std::shared_ptr<Galileo_HAS_data> process_test_page(const pmt::pmt_t& msg); //!< For testing purposes only
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private:
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friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
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galileo_e6_has_msg_receiver();
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void msg_handler_galileo_e6_has(const pmt::pmt_t& msg);
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void process_HAS_page(const Galileo_HAS_page& has_page);
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void read_MT1_header(const std::string& message_header);
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void read_MT1_body(const std::string& message_body);
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void delete_outdated_data(const Galileo_HAS_page& has_page);
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int decode_message_type1(uint8_t message_id, uint8_t message_size);
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uint16_t read_has_message_header_parameter_uint16(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
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uint8_t read_has_message_header_parameter_uint8(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
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bool read_has_message_header_parameter_bool(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
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uint64_t read_has_message_body_uint64(const std::string& bits) const;
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uint16_t read_has_message_body_uint16(const std::string& bits) const;
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int16_t read_has_message_body_int16(const std::string& bits) const;
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uint8_t read_has_message_body_uint8(const std::string& bits) const;
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template <class T>
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std::string debug_print_vector(const std::string& title, const std::vector<T>& vec) const; // only for debug purposes
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template <class T>
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std::string debug_print_matrix(const std::string& title, const std::vector<std::vector<T>>& mat) const; // only for debug purposes
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std::unique_ptr<ReedSolomon> d_rs;
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Galileo_HAS_data d_HAS_data{};
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Nav_Message_Packet d_nav_msg_packet;
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// Store decoding matrices and received PIDs
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std::vector<std::vector<uint64_t>> d_received_timestamps;
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std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix;
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std::vector<std::vector<uint8_t>> d_M_matrix;
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std::vector<std::vector<uint8_t>> d_received_pids;
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std::vector<uint64_t> d_printed_timestamps;
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std::vector<bool> d_printed_mids;
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// Store masks
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std::vector<int> d_nsat_in_mask_id;
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std::vector<std::vector<uint8_t>> d_gnss_id_in_mask;
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std::vector<std::vector<uint64_t>> d_satellite_mask;
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std::vector<std::vector<uint16_t>> d_signal_mask;
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std::vector<std::vector<bool>> d_cell_mask_availability_flag;
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std::vector<std::vector<std::vector<std::vector<bool>>>> d_cell_mask;
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std::vector<uint8_t> d_nsys_in_mask;
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std::vector<std::vector<uint8_t>> d_nav_message_mask;
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uint8_t d_current_has_status{};
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uint8_t d_current_message_id{};
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bool d_new_message{};
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bool d_enable_navdata_monitor{};
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
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