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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder...

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/*!
* \file gps_l1_ca_dll_pll_tracking_test.cc
* \brief This class implements a telemetry decoder test for GPS_L1_CA_Telemetry_Decoder
* implementation based on some input parameters.
* \author Javier Arribas, 2015. 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 <armadillo>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/top_block.h>
#include <chrono>
#include <exception>
#include <string>
#include <unistd.h>
#include <utility>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_synchro.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "in_memory_configuration.h"
#include "signal_generator_flags.h"
#include "telemetry_decoder_interface.h"
#include "tlm_dump_reader.h"
#include "tracking_dump_reader.h"
#include "tracking_interface.h"
#include "tracking_true_obs_reader.h"
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
#if GNURADIO_USES_STD_POINTERS
#include <memory>
#else
#include <boost/shared_ptr.hpp>
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
#if GNURADIO_USES_STD_POINTERS
using GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr = std::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx>;
#else
using GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr = boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx>;
#endif
GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
class GpsL1CADllPllTelemetryDecoderTest_msg_rx : public gr::block
{
private:
friend GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
GpsL1CADllPllTelemetryDecoderTest_msg_rx();
public:
int rx_message;
~GpsL1CADllPllTelemetryDecoderTest_msg_rx(); //!< Default destructor
};
GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make()
{
return GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_msg_rx());
}
void GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
rx_message = 0;
}
}
GpsL1CADllPllTelemetryDecoderTest_msg_rx::GpsL1CADllPllTelemetryDecoderTest_msg_rx() : gr::block("GpsL1CADllPllTelemetryDecoderTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
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(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events, this, boost::placeholders::_1));
#else
boost::bind(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events, this, _1));
#endif
#endif
rx_message = 0;
}
GpsL1CADllPllTelemetryDecoderTest_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_msg_rx() = default;
// ###########################################################
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES #########
class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx;
using GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr = std::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx>;
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx : public gr::block
{
private:
friend GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx();
public:
int rx_message;
~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx(); //!< Default destructor
};
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make()
{
return GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx());
}
void GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
rx_message = 0;
}
}
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() : gr::block("GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
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
boost::bind(&GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events, this, boost::placeholders::_1));
#endif
rx_message = 0;
}
GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() = default;
// ###########################################################
class GpsL1CATelemetryDecoderTest : public ::testing::Test
{
public:
std::string generator_binary;
std::string p1;
std::string p2;
std::string p3;
std::string p4;
std::string p5;
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
int configure_generator();
int generate_signal();
void check_results(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value);
GpsL1CATelemetryDecoderTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
}
~GpsL1CATelemetryDecoderTest() = default;
void configure_receiver();
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
};
int GpsL1CATelemetryDecoderTest::configure_generator()
{
// Configure signal generator
generator_binary = FLAGS_generator_binary;
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
if (FLAGS_dynamic_position.empty())
{
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
}
else
{
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
}
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
return 0;
}
int GpsL1CATelemetryDecoderTest::generate_signal()
{
int child_status;
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], nullptr};
int pid;
if ((pid = fork()) == -1)
{
perror("fork err");
}
else if (pid == 0)
{
execv(&generator_binary[0], parmList);
std::cout << "Return not expected. Must be an execv err." << std::endl;
std::terminate();
}
waitpid(pid, &child_status, 0);
std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
return 0;
}
void GpsL1CATelemetryDecoderTest::configure_receiver()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "1C";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
// Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_hz", "1.5");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("TelemetryDecoder_1C.dump", "true");
}
void GpsL1CATelemetryDecoderTest::check_results(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value)
{
// 1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::uvec true_time_s_valid = find(true_time_s > 0);
true_time_s = true_time_s(true_time_s_valid);
true_value = true_value(true_time_s_valid);
arma::uvec meas_time_s_valid = find(meas_time_s > 0);
meas_time_s = meas_time_s(meas_time_s_valid);
meas_value = meas_value(meas_time_s_valid);
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
// 2. RMSE
// arma::vec err = meas_value - true_value_interp + 0.001;
arma::vec err = meas_value - true_value_interp; // - 0.001;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
// 3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
// 4. Peaks
double max_error = arma::max(err);
double min_error = arma::min(err);
// 5. report
std::streamsize ss = std::cout.precision();
std::cout << std::setprecision(10) << "TLM TOW RMSE="
<< rmse << ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var)
<< " (max,min)=" << max_error
<< "," << min_error
<< " [Seconds]" << std::endl;
std::cout.precision(ss);
ASSERT_LT(rmse, 0.3E-6);
ASSERT_LT(error_mean, 0.3E-6);
ASSERT_GT(error_mean, -0.3E-6);
ASSERT_LT(error_var, 0.3E-6);
ASSERT_LT(max_error, 0.5E-6);
ASSERT_GT(min_error, -0.5E-6);
}
TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
{
// Configure the signal generator
configure_generator();
// Generate signal raw signal samples and observations RINEX file
if (FLAGS_disable_generator == false)
{
generate_signal();
}
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
configure_receiver();
// open true observables log file written by the simulator
Tracking_True_Obs_Reader true_obs_data;
int test_satellite_PRN = FLAGS_test_satellite_PRN;
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
true_obs_file.append(std::to_string(test_satellite_PRN));
true_obs_file.append(".dat");
ASSERT_NO_THROW({
if (true_obs_data.open_obs_file(true_obs_file) == false)
{
throw std::exception();
};
}) << "Failure opening true observables file";
top_block = gr::make_top_block("Telemetry_Decoder test");
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
// std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
auto msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
// load acquisition data based on the first epoch of the true observations
ASSERT_NO_THROW({
if (true_obs_data.read_binary_obs() == false)
{
throw std::exception();
};
}) << "Failure reading true observables file";
// restart the epoch counter
true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD_S;
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
gnss_synchro.Acq_samplestamp_samples = 0;
std::shared_ptr<TelemetryDecoderInterface> tlm(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C", 1, 1));
tlm->set_channel(0);
std::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx> tlm_msg_rx = GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
ASSERT_NO_THROW({
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block.";
ASSERT_NO_THROW({
std::string file = "./" + filename_raw_data;
const char* file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, tlm->get_left_block(), 0);
top_block->connect(tlm->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks.";
tracking->start_tracking();
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
// check results
// load the true values
int64_t nepoch = true_obs_data.num_epochs();
std::cout << "True observation epochs=" << nepoch << std::endl;
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
arma::vec true_tow_s = arma::zeros(nepoch, 1);
int64_t epoch_counter = 0;
while (true_obs_data.read_binary_obs())
{
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
true_tow_s(epoch_counter) = true_obs_data.tow;
epoch_counter++;
}
// load the measured values
Tlm_Dump_Reader tlm_dump;
ASSERT_NO_THROW({
if (tlm_dump.open_obs_file(std::string("./telemetry0.dat")) == false)
{
throw std::exception();
};
}) << "Failure opening telemetry dump file";
nepoch = tlm_dump.num_epochs();
std::cout << "Measured observation epochs=" << nepoch << std::endl;
arma::vec tlm_timestamp_s = arma::zeros(nepoch, 1);
arma::vec tlm_TOW_at_Preamble = arma::zeros(nepoch, 1);
arma::vec tlm_tow_s = arma::zeros(nepoch, 1);
epoch_counter = 0;
while (tlm_dump.read_binary_obs())
{
tlm_timestamp_s(epoch_counter) = static_cast<double>(tlm_dump.Tracking_sample_counter) / static_cast<double>(baseband_sampling_freq);
tlm_TOW_at_Preamble(epoch_counter) = tlm_dump.d_TOW_at_Preamble;
tlm_tow_s(epoch_counter) = tlm_dump.TOW_at_current_symbol;
epoch_counter++;
}
// Cut measurement initial transitory of the measurements
arma::uvec initial_meas_point = arma::find(tlm_tow_s >= true_tow_s(0), 1, "first");
ASSERT_EQ(initial_meas_point.is_empty(), false);
tlm_timestamp_s = tlm_timestamp_s.subvec(initial_meas_point(0), tlm_timestamp_s.size() - 1);
tlm_tow_s = tlm_tow_s.subvec(initial_meas_point(0), tlm_tow_s.size() - 1);
check_results(true_timestamp_s, true_tow_s, tlm_timestamp_s, tlm_tow_s);
std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}
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