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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_t...

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/*!
* \file galileo_fnav_inav_decoder_test.cc
* \brief This class implements the unit test for the Galileo FNAV and INAV frames
* according to the Galileo ICD
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -------------------------------------------------------------------------
*/
#include "convolutional.h"
#include "galileo_fnav_message.h"
#include "galileo_navigation_message.h"
#include <armadillo>
#include <gtest/gtest.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <chrono>
#include <exception>
#include <string>
#include <unistd.h>
class Galileo_FNAV_INAV_test : public ::testing::Test
{
public:
Galileo_Navigation_Message INAV_decoder;
Galileo_Fnav_Message FNAV_decoder;
// vars for Viterbi decoder
int32_t *out0, *out1, *state0, *state1;
int32_t g_encoder[2];
const int32_t nn = 2; // Coding rate 1/n
const int32_t KK = 7; // Constraint Length
int32_t mm = KK - 1;
int32_t flag_even_word_arrived;
void viterbi_decoder(float *page_part_symbols, int32_t *page_part_bits, int32_t _datalength)
{
Viterbi(page_part_bits, out0, state0, out1, state1,
page_part_symbols, KK, nn, _datalength);
}
void deinterleaver(int32_t rows, int32_t cols, const float *in, float *out)
{
for (int32_t r = 0; r < rows; r++)
{
for (int32_t c = 0; c < cols; c++)
{
out[c * rows + r] = in[r * cols + c];
}
}
}
bool decode_INAV_word(float *page_part_symbols, int32_t frame_length)
{
// 1. De-interleave
auto *page_part_symbols_deint = static_cast<float *>(volk_gnsssdr_malloc(frame_length * sizeof(float), volk_gnsssdr_get_alignment()));
deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint);
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
for (int32_t i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_part_symbols_deint[i] = -page_part_symbols_deint[i];
}
}
auto *page_part_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
const int32_t CodeLength = 240;
int32_t DataLength = (CodeLength / nn) - mm;
viterbi_decoder(page_part_symbols_deint, page_part_bits, DataLength);
volk_gnsssdr_free(page_part_symbols_deint);
// 3. Call the Galileo page decoder
std::string page_String;
for (int32_t i = 0; i < (frame_length / 2); i++)
{
if (page_part_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
bool crc_ok = false;
if (page_part_bits[0] == 1)
{
// DECODE COMPLETE WORD (even + odd) and TEST CRC
INAV_decoder.split_page(page_String, flag_even_word_arrived);
if (INAV_decoder.get_flag_CRC_test() == true)
{
std::cout << "Galileo E1 INAV PAGE CRC correct \n";
// std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
crc_ok = true;
}
flag_even_word_arrived = 0;
}
else
{
// STORE HALF WORD (even page)
INAV_decoder.split_page(page_String.c_str(), flag_even_word_arrived);
flag_even_word_arrived = 1;
}
volk_gnsssdr_free(page_part_bits);
return crc_ok;
}
bool decode_FNAV_word(float *page_symbols, int32_t frame_length)
{
// 1. De-interleave
auto *page_symbols_deint = static_cast<float *>(volk_gnsssdr_malloc(frame_length * sizeof(float), volk_gnsssdr_get_alignment()));
deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180
for (int32_t i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_symbols_deint[i] = -page_symbols_deint[i];
}
}
auto *page_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
const int32_t CodeLength = 488;
int32_t DataLength = (CodeLength / nn) - mm;
viterbi_decoder(page_symbols_deint, page_bits, DataLength);
volk_gnsssdr_free(page_symbols_deint);
// 3. Call the Galileo page decoder
std::string page_String;
for (int32_t i = 0; i < frame_length; i++)
{
if (page_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
volk_gnsssdr_free(page_bits);
// DECODE COMPLETE WORD (even + odd) and TEST CRC
FNAV_decoder.split_page(page_String);
if (FNAV_decoder.get_flag_CRC_test() == true)
{
std::cout << "Galileo E5a FNAV PAGE CRC correct \n";
return true;
}
return false;
}
Galileo_FNAV_INAV_test()
{
// vars for Viterbi decoder
int32_t max_states = 1 << mm; // 2^mm
g_encoder[0] = 121; // Polynomial G1
g_encoder[1] = 91; // Polynomial G2
out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), 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);
flag_even_word_arrived = 0;
}
~Galileo_FNAV_INAV_test()
{
volk_gnsssdr_free(out0);
volk_gnsssdr_free(out1);
volk_gnsssdr_free(state0);
volk_gnsssdr_free(state1);
}
};
TEST_F(Galileo_FNAV_INAV_test, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
start = std::chrono::system_clock::now();
int repetitions = 10;
// FNAV FULLY ENCODED FRAME
float FNAV_frame[488] = {-1, 1, -1, -1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
1, -1, -1, 1, -1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1,
-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, 1, -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, 1, -1, 1, -1,
-1, 1, 1, -1, 1, 1, 1, 1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, 1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1,
-1, -1, -1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, 1, 1,
-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1,
-1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, -1, -1, -1, -1, 1, -1, -1, 1, 1, 1, 1, 1, 1, -1,
-1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, 1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, -1, 1, 1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, -1, 1, 1, -1,
1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
-1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1,
1, -1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, -1,
-1, 1, -1, -1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, -1, -1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
1, -1, 1, -1, -1, 1, 1, 1, -1, -1, 1, -1, 1, 1};
ASSERT_NO_THROW({
for (int n = 0; n < repetitions; n++)
{
EXPECT_EQ(decode_FNAV_word(&FNAV_frame[0], 488), true);
}
}) << "Exception during FNAV frame decoding";
// INAV FULLY ENCODED FRAME
float INAV_frame_even[240] = {-1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 1,
-1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, -1, 1, -1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, -1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, 1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, 1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
1, -1, 1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1,
-1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1};
float INAV_frame_odd[240] = {1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
1, 1, 1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, 1, -1, 1,
1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1,
-1, -1, 1, 1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1,
1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1,
1, -1, 1, -1, -1, -1, 1, 1, -1, -1, 1, -1, 1, 1, -1, -1,
-1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, 1, -1, 1,
1, 1, -1, 1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
1, 1, 1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, -1, 1,
-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1,
-1, -1, 1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1,
1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, -1, -1, -1, -1, 1, 1, -1, -1, 1, 1};
ASSERT_NO_THROW({
for (int n = 0; n < repetitions; n++)
{
decode_INAV_word(&INAV_frame_even[0], 240);
EXPECT_EQ(decode_INAV_word(&INAV_frame_odd[0], 240), true);
}
}) << "Exception during INAV frame decoding";
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
std::cout << "Galileo FNAV/INAV Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}
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