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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisit...

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/*!
* \file glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
* \brief Tests a PCPS acquisition block for Glonass L1 C/A signals
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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 "concurrent_queue.h"
#include "configuration_interface.h"
#include "freq_xlating_fir_filter.h"
#include "gen_signal_source.h"
#include "glonass_l1_ca_pcps_acquisition.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "in_memory_configuration.h"
#include "pass_through.h"
#include "signal_generator.h"
#include "signal_generator_c.h"
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <pmt/pmt.h>
#include <chrono>
#include <memory>
#include <thread>
#include <utility>
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx;
#if GNURADIO_USES_STD_POINTERS
using GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr = std::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx>;
#else
using GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr = boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx>;
#endif
GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(Concurrent_Queue<int>& queue);
class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx : public gr::block
{
private:
friend GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(Concurrent_Queue<int>& queue);
void msg_handler_events(pmt::pmt_t msg);
explicit GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(Concurrent_Queue<int>& queue);
Concurrent_Queue<int>& channel_internal_queue;
public:
int rx_message;
~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(); // Default destructor
};
GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(Concurrent_Queue<int>& queue)
{
return GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(queue));
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
channel_internal_queue.push(rx_message);
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
rx_message = 0;
}
}
GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(Concurrent_Queue<int>& queue) : gr::block("GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_events(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events, this, boost::placeholders::_1));
#else
boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_events, this, _1));
#endif
#endif
rx_message = 0;
}
GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx() = default;
// ###########################################################
class GlonassL1CaPcpsAcquisitionGSoC2017Test : public ::testing::Test
{
protected:
GlonassL1CaPcpsAcquisitionGSoC2017Test()
{
item_size = sizeof(gr_complex);
stop = false;
message = 0;
gnss_synchro = Gnss_Synchro();
acquisition = nullptr;
init();
}
~GlonassL1CaPcpsAcquisitionGSoC2017Test() = default;
void init();
void config_1();
void config_2();
void start_queue();
void wait_message();
void process_message();
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
GlonassL1CaPcpsAcquisition* acquisition;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
bool stop;
int message;
std::thread ch_thread;
unsigned int integration_time_ms = 0;
unsigned int fs_in = 0;
double expected_delay_chips = 0.0;
double expected_doppler_hz = 0.0;
float max_doppler_error_hz = 0.0;
float max_delay_error_chips = 0.0;
unsigned int num_of_realizations = 0;
unsigned int realization_counter;
unsigned int detection_counter;
unsigned int correct_estimation_counter;
unsigned int acquired_samples;
unsigned int mean_acq_time_us;
double mse_doppler;
double mse_delay;
double Pd;
double Pfa_p;
double Pfa_a;
};
void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
{
message = 0;
realization_counter = 0;
detection_counter = 0;
correct_estimation_counter = 0;
acquired_samples = 0;
mse_doppler = 0;
mse_delay = 0;
mean_acq_time_us = 0;
Pd = 0;
Pfa_p = 0;
Pfa_a = 0;
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'R';
std::string signal = "1G";
signal.copy(gnss_synchro.Signal, 2, 0);
integration_time_ms = 1;
fs_in = 31.75e6;
expected_delay_chips = 255;
expected_doppler_hz = -1500;
max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
max_delay_error_chips = 0.50;
num_of_realizations = 1;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
config->set_property("SignalSource.item_type", "gr_complex");
config->set_property("SignalSource.num_satellites", "1");
config->set_property("SignalSource.system_0", "R");
config->set_property("SignalSource.PRN_0", "10");
config->set_property("SignalSource.CN0_dB_0", "44");
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
config->set_property("SignalSource.noise_flag", "false");
config->set_property("SignalSource.data_flag", "false");
config->set_property("SignalSource.BW_BB", "0.97");
config->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", "11");
config->set_property("InputFilter.number_of_bands", "2");
config->set_property("InputFilter.band1_begin", "0.0");
config->set_property("InputFilter.band1_end", "0.97");
config->set_property("InputFilter.band2_begin", "0.98");
config->set_property("InputFilter.band2_end", "1.0");
config->set_property("InputFilter.ampl1_begin", "1.0");
config->set_property("InputFilter.ampl1_end", "1.0");
config->set_property("InputFilter.ampl2_begin", "0.0");
config->set_property("InputFilter.ampl2_end", "0.0");
config->set_property("InputFilter.band1_error", "1.0");
config->set_property("InputFilter.band2_error", "1.0");
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", "16");
config->set_property("InputFilter.sampling_frequency", std::to_string(fs_in));
config->set_property("InputFilter.IF", "4000000");
config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
// config->set_property("Acquisition.threshold", "2.5");
config->set_property("Acquisition.pfa", "0.001");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
config->set_property("Acquisition.dump", "false");
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'R';
std::string signal = "1G";
signal.copy(gnss_synchro.Signal, 2, 0);
integration_time_ms = 1;
fs_in = 31.75e6;
expected_delay_chips = 374;
expected_doppler_hz = -2000;
max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
max_delay_error_chips = 0.50;
num_of_realizations = 100;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
config->set_property("SignalSource.item_type", "gr_complex");
config->set_property("SignalSource.num_satellites", "4");
config->set_property("SignalSource.system_0", "R");
config->set_property("SignalSource.PRN_0", "10");
config->set_property("SignalSource.CN0_dB_0", "44");
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
config->set_property("SignalSource.system_1", "R");
config->set_property("SignalSource.PRN_1", "15");
config->set_property("SignalSource.CN0_dB_1", "44");
config->set_property("SignalSource.doppler_Hz_1", "1000");
config->set_property("SignalSource.delay_chips_1", "100");
config->set_property("SignalSource.system_2", "R");
config->set_property("SignalSource.PRN_2", "21");
config->set_property("SignalSource.CN0_dB_2", "44");
config->set_property("SignalSource.doppler_Hz_2", "2000");
config->set_property("SignalSource.delay_chips_2", "200");
config->set_property("SignalSource.system_3", "R");
config->set_property("SignalSource.PRN_3", "22");
config->set_property("SignalSource.CN0_dB_3", "44");
config->set_property("SignalSource.doppler_Hz_3", "3000");
config->set_property("SignalSource.delay_chips_3", "300");
config->set_property("SignalSource.noise_flag", "true");
config->set_property("SignalSource.data_flag", "true");
config->set_property("SignalSource.BW_BB", "0.97");
config->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", "11");
config->set_property("InputFilter.number_of_bands", "2");
config->set_property("InputFilter.band1_begin", "0.0");
config->set_property("InputFilter.band1_end", "0.97");
config->set_property("InputFilter.band2_begin", "0.98");
config->set_property("InputFilter.band2_end", "1.0");
config->set_property("InputFilter.ampl1_begin", "1.0");
config->set_property("InputFilter.ampl1_end", "1.0");
config->set_property("InputFilter.ampl2_begin", "0.0");
config->set_property("InputFilter.ampl2_end", "0.0");
config->set_property("InputFilter.band1_error", "1.0");
config->set_property("InputFilter.band2_error", "1.0");
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", "16");
config->set_property("InputFilter.sampling_frequency", std::to_string(fs_in));
config->set_property("InputFilter.IF", "4000000");
config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition.pfa", "0.001");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
config->set_property("Acquisition.dump", "false");
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
{
stop = false;
ch_thread = std::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
{
struct timeval tv;
int64_t begin = 0;
int64_t end = 0;
while (!stop)
{
acquisition->reset();
gettimeofday(&tv, nullptr);
begin = tv.tv_sec * 1e6 + tv.tv_usec;
channel_internal_queue.wait_and_pop(message);
gettimeofday(&tv, nullptr);
end = tv.tv_sec * 1e6 + tv.tv_usec;
mean_acq_time_us += (end - begin);
process_message();
}
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
{
if (message == 1)
{
detection_counter++;
// The term -5 is here to correct the additional delay introduced by the FIR filter
// The value 511.0 must be a variable, chips/length
double delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - (static_cast<double>(gnss_synchro.Acq_delay_samples) - 5.0) * 511.0 / (static_cast<double>(fs_in) * 1e-3));
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
mse_delay += std::pow(delay_error_chips, 2);
mse_doppler += std::pow(doppler_error_hz, 2);
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
{
correct_estimation_counter++;
}
}
realization_counter++;
std::cout << "Progress: " << round(static_cast<float>(realization_counter) / static_cast<float>(num_of_realizations) * 100.0) << "% \r" << std::flush;
if (realization_counter == num_of_realizations)
{
mse_delay /= num_of_realizations;
mse_doppler /= num_of_realizations;
Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
Pfa_p = (static_cast<double>(detection_counter) - static_cast<double>(correct_estimation_counter)) / static_cast<double>(num_of_realizations);
mean_acq_time_us /= num_of_realizations;
stop_queue();
top_block->stop();
}
}
void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
{
stop = true;
}
TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
{
config_1();
acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
delete acquisition;
}
TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
{
int nsamples = floor(fs_in * integration_time_ms * 1e-3);
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
config_1();
acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
auto msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
ASSERT_NO_THROW({
acquisition->connect(top_block);
auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test.";
EXPECT_NO_THROW({
begin = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - begin;
}) << "Failure running the top_block.";
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
delete acquisition;
}
TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
{
config_1();
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
auto msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
ASSERT_NO_THROW({
acquisition->set_channel(1);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(10000);
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_doppler_step(500);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting acquisition to the top_block.";
acquisition->init();
ASSERT_NO_THROW({
std::shared_ptr<SignalGenerator> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue);
std::shared_ptr<FreqXlatingFirFilter> filter = std::make_shared<FreqXlatingFirFilter>(config.get(), "InputFilter", 1, 1);
signal_generator->connect(top_block);
top_block->connect(signal_generator->get_right_block(), 0, filter->get_left_block(), 0);
top_block->connect(filter->get_right_block(), 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test.";
// i = 0 --> satellite in acquisition is visible
// i = 1 --> satellite in acquisition is not visible
for (unsigned int i = 0; i < 2; i++)
{
init();
if (i == 0)
{
gnss_synchro.PRN = 10; // This satellite is visible
}
else if (i == 1)
{
gnss_synchro.PRN = 20; // This satellite is not visible
}
acquisition->set_local_code();
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
start_queue();
EXPECT_NO_THROW({
top_block->run(); // Start threads and wait
}) << "Failure running the top_block.";
if (i == 0)
{
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
if (message == 1)
{
EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
}
else if (i == 1)
{
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
}
ASSERT_NO_THROW({
ch_thread.join();
}) << "Failure while waiting the queue to stop";
}
delete acquisition;
}
TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
{
config_2();
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
auto msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
ASSERT_NO_THROW({
acquisition->set_channel(1);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting acquisition to the top_block.";
acquisition->init();
ASSERT_NO_THROW({
std::shared_ptr<SignalGenerator> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue);
std::shared_ptr<FreqXlatingFirFilter> filter = std::make_shared<FreqXlatingFirFilter>(config.get(), "InputFilter", 1, 1);
signal_generator->connect(top_block);
top_block->connect(signal_generator->get_right_block(), 0, filter->get_left_block(), 0);
top_block->connect(filter->get_right_block(), 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test.";
std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
// i = 1 --> satellite in acquisition is not visible (prob of false detection)
for (unsigned int i = 0; i < 2; i++)
{
init();
if (i == 0)
{
gnss_synchro.PRN = 10; // This satellite is visible
}
else if (i == 1)
{
gnss_synchro.PRN = 1; // This satellite is not visible
}
acquisition->set_local_code();
start_queue();
EXPECT_NO_THROW({
top_block->run(); // Start threads and wait
}) << "Failure running the top_block."
<< std::endl;
if (i == 0)
{
std::cout << "Estimated probability of detection = " << Pd << std::endl;
std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
}
else if (i == 1)
{
std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
}
ASSERT_NO_THROW({
ch_thread.join();
}) << "Failure while waiting the queue to stop"
<< std::endl;
}
delete acquisition;
}
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