mirror of https://github.com/gnss-sdr/gnss-sdr
478 lines
17 KiB
C++
478 lines
17 KiB
C++
/*!
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* \file gps_l1_ca_dll_pll_tracking_test.cc
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* \brief This class implements a telemetry decoder test for GPS_L1_CA_Telemetry_Decoder
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* implementation based on some input parameters.
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* \author Javier Arribas, 2015. jarribas(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include <unistd.h>
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#include <chrono>
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#include <exception>
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#include <string>
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#include <armadillo>
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#include <gnuradio/top_block.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/analog/sig_source_c.h>
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#include <gnuradio/blocks/interleaved_char_to_complex.h>
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#include <gnuradio/blocks/null_sink.h>
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#include <gnuradio/blocks/skiphead.h>
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#include <gtest/gtest.h>
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#include "GPS_L1_CA.h"
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#include "gnss_block_factory.h"
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#include "gnss_block_interface.h"
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#include "tracking_interface.h"
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#include "telemetry_decoder_interface.h"
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#include "in_memory_configuration.h"
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#include "gnss_synchro.h"
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#include "gps_l1_ca_telemetry_decoder.h"
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#include "tracking_true_obs_reader.h"
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#include "tracking_dump_reader.h"
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#include "tlm_dump_reader.h"
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#include "gps_l1_ca_dll_pll_tracking.h"
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#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
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#include "signal_generator_flags.h"
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// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
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class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
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typedef boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx> GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr;
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GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
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class GpsL1CADllPllTelemetryDecoderTest_msg_rx : public gr::block
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{
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private:
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friend GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
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void msg_handler_events(pmt::pmt_t msg);
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GpsL1CADllPllTelemetryDecoderTest_msg_rx();
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public:
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int rx_message;
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~GpsL1CADllPllTelemetryDecoderTest_msg_rx(); //!< Default destructor
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};
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GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_msg_rx_make()
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{
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return GpsL1CADllPllTelemetryDecoderTest_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_msg_rx());
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}
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void GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
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{
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try
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{
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long int message = pmt::to_long(msg);
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rx_message = message;
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}
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catch(boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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rx_message = 0;
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}
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}
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GpsL1CADllPllTelemetryDecoderTest_msg_rx::GpsL1CADllPllTelemetryDecoderTest_msg_rx() :
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gr::block("GpsL1CADllPllTelemetryDecoderTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTelemetryDecoderTest_msg_rx::msg_handler_events, this, _1));
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rx_message = 0;
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}
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GpsL1CADllPllTelemetryDecoderTest_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_msg_rx()
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{}
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// ###########################################################
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// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES #########
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class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx;
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typedef boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx> GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr;
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GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
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class GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx : public gr::block
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{
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private:
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friend GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
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void msg_handler_events(pmt::pmt_t msg);
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GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx();
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public:
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int rx_message;
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~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx(); //!< Default destructor
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};
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GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make()
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{
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return GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_sptr(new GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx());
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}
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void GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events(pmt::pmt_t msg)
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{
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try
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{
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long int message = pmt::to_long(msg);
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rx_message = message;
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}
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catch(boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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rx_message = 0;
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}
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}
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GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx() :
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gr::block("GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::msg_handler_events, this, _1));
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rx_message = 0;
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}
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GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx()
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{}
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// ###########################################################
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class GpsL1CATelemetryDecoderTest: public ::testing::Test
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{
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public:
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std::string generator_binary;
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std::string p1;
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std::string p2;
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std::string p3;
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std::string p4;
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std::string p5;
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const int baseband_sampling_freq = FLAGS_fs_gen_sps;
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std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
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std::string filename_raw_data = FLAGS_filename_raw_data;
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int configure_generator();
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int generate_signal();
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void check_results(arma::vec & true_time_s,
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arma::vec & true_value,
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arma::vec & meas_time_s,
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arma::vec & meas_value);
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GpsL1CATelemetryDecoderTest()
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{
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factory = std::make_shared<GNSSBlockFactory>();
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config = std::make_shared<InMemoryConfiguration>();
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item_size = sizeof(gr_complex);
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gnss_synchro = Gnss_Synchro();
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}
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~GpsL1CATelemetryDecoderTest()
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{}
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void configure_receiver();
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gr::top_block_sptr top_block;
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std::shared_ptr<GNSSBlockFactory> factory;
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std::shared_ptr<InMemoryConfiguration> config;
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Gnss_Synchro gnss_synchro;
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size_t item_size;
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};
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int GpsL1CATelemetryDecoderTest::configure_generator()
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{
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// Configure signal generator
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generator_binary = FLAGS_generator_binary;
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p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
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if(FLAGS_dynamic_position.empty())
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{
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p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
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}
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else
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{
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p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
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}
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p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
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p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
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p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
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return 0;
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}
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int GpsL1CATelemetryDecoderTest::generate_signal()
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{
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int child_status;
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char *const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL };
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int pid;
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if ((pid = fork()) == -1)
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perror("fork err");
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else if (pid == 0)
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{
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execv(&generator_binary[0], parmList);
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std::cout << "Return not expected. Must be an execv err." << std::endl;
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std::terminate();
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}
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waitpid(pid, &child_status, 0);
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std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
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return 0;
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}
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void GpsL1CATelemetryDecoderTest::configure_receiver()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'G';
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std::string signal = "1C";
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signal.copy(gnss_synchro.Signal, 2, 0);
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gnss_synchro.PRN = FLAGS_test_satellite_PRN;
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
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// Set Tracking
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config->set_property("Tracking_1C.item_type", "gr_complex");
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config->set_property("Tracking_1C.if", "0");
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config->set_property("Tracking_1C.dump", "true");
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config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
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config->set_property("Tracking_1C.pll_bw_hz", "20.0");
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config->set_property("Tracking_1C.dll_bw_hz", "1.5");
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config->set_property("Tracking_1C.early_late_space_chips", "0.5");
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config->set_property("TelemetryDecoder_1C.dump","true");
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}
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void GpsL1CATelemetryDecoderTest::check_results(arma::vec & true_time_s,
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arma::vec & true_value,
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arma::vec & meas_time_s,
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arma::vec & meas_value)
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{
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//1. True value interpolation to match the measurement times
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arma::vec true_value_interp;
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arma::uvec true_time_s_valid = find(true_time_s > 0);
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true_time_s = true_time_s(true_time_s_valid);
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true_value = true_value(true_time_s_valid);
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arma::uvec meas_time_s_valid = find(meas_time_s > 0);
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meas_time_s = meas_time_s(meas_time_s_valid);
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meas_value = meas_value(meas_time_s_valid);
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arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
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//2. RMSE
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arma::vec err;
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err = meas_value - true_value_interp + 0.001;
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arma::vec err2 = arma::square(err);
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double rmse = sqrt(arma::mean(err2));
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//3. Mean err and variance
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double error_mean = arma::mean(err);
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double error_var = arma::var(err);
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// 4. Peaks
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double max_error = arma::max(err);
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double min_error = arma::min(err);
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//5. report
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std::streamsize ss = std::cout.precision();
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std::cout << std::setprecision(10) << "TLM TOW RMSE="
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<< rmse << ", mean=" << error_mean
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<< ", stdev=" << sqrt(error_var)
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<< " (max,min)=" << max_error
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<< "," << min_error
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<< " [Seconds]" << std::endl;
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std::cout.precision (ss);
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ASSERT_LT(rmse, 0.2E-6);
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ASSERT_LT(error_mean, 0.2E-6);
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ASSERT_GT(error_mean, -0.2E-6);
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ASSERT_LT(error_var, 0.2E-6);
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ASSERT_LT(max_error, 0.5E-6);
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ASSERT_GT(min_error, -0.5E-6);
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}
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TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
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{
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// Configure the signal generator
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configure_generator();
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// Generate signal raw signal samples and observations RINEX file
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if (FLAGS_disable_generator == false)
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{
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generate_signal();
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}
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std::chrono::time_point<std::chrono::system_clock> start, end;
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std::chrono::duration<double> elapsed_seconds(0);
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configure_receiver();
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//open true observables log file written by the simulator
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tracking_true_obs_reader true_obs_data;
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int test_satellite_PRN = FLAGS_test_satellite_PRN;
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std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
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std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
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true_obs_file.append(std::to_string(test_satellite_PRN));
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true_obs_file.append(".dat");
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ASSERT_NO_THROW({
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if (true_obs_data.open_obs_file(true_obs_file) == false)
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{
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throw std::exception();
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};
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}) << "Failure opening true observables file";
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top_block = gr::make_top_block("Telemetry_Decoder test");
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std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
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//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
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boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx> msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
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// load acquisition data based on the first epoch of the true observations
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ASSERT_NO_THROW({
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if (true_obs_data.read_binary_obs() == false)
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{
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throw std::exception();
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};
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}) << "Failure reading true observables file";
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//restart the epoch counter
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true_obs_data.restart();
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std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
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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;
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gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
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gnss_synchro.Acq_samplestamp_samples = 0;
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std::shared_ptr<TelemetryDecoderInterface> tlm(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C",1, 1));
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tlm->set_channel(0);
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boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx> tlm_msg_rx = GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx_make();
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ASSERT_NO_THROW( {
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tracking->set_channel(gnss_synchro.Channel_ID);
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}) << "Failure setting channel.";
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ASSERT_NO_THROW( {
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tracking->set_gnss_synchro(&gnss_synchro);
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}) << "Failure setting gnss_synchro.";
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ASSERT_NO_THROW( {
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tracking->connect(top_block);
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}) << "Failure connecting tracking to the top_block.";
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ASSERT_NO_THROW( {
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std::string file = "./" + filename_raw_data;
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const char * file_name = file.c_str();
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gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
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gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
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gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
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top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
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top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
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top_block->connect(tracking->get_right_block(), 0, tlm->get_left_block(), 0);
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top_block->connect(tlm->get_right_block(), 0, sink, 0);
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top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting the blocks.";
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tracking->start_tracking();
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EXPECT_NO_THROW( {
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start = std::chrono::system_clock::now();
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top_block->run(); // Start threads and wait
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end = std::chrono::system_clock::now();
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elapsed_seconds = end - start;
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}) << "Failure running the top_block.";
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//check results
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//load the true values
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long int nepoch = true_obs_data.num_epochs();
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std::cout << "True observation epochs=" << nepoch << std::endl;
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arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
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arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
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arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
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arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
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arma::vec true_tow_s = arma::zeros(nepoch, 1);
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long int epoch_counter = 0;
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while(true_obs_data.read_binary_obs())
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{
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true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
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true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
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true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
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true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
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true_tow_s(epoch_counter) = true_obs_data.tow;
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epoch_counter++;
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}
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//load the measured values
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tlm_dump_reader tlm_dump;
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ASSERT_NO_THROW({
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if (tlm_dump.open_obs_file(std::string("./telemetry0.dat")) == false)
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{
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throw std::exception();
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};
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}) << "Failure opening telemetry dump file";
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nepoch = tlm_dump.num_epochs();
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std::cout << "Measured observation epochs=" << nepoch << std::endl;
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arma::vec tlm_timestamp_s = arma::zeros(nepoch, 1);
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arma::vec tlm_TOW_at_Preamble = arma::zeros(nepoch, 1);
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arma::vec tlm_tow_s = arma::zeros(nepoch, 1);
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|
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epoch_counter = 0;
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while(tlm_dump.read_binary_obs())
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{
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tlm_timestamp_s(epoch_counter) = static_cast<double>(tlm_dump.Tracking_sample_counter) / static_cast<double>(baseband_sampling_freq);
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tlm_TOW_at_Preamble(epoch_counter) = tlm_dump.d_TOW_at_Preamble;
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tlm_tow_s(epoch_counter) = tlm_dump.TOW_at_current_symbol;
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epoch_counter++;
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}
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//Cut measurement initial transitory of the measurements
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arma::uvec initial_meas_point = arma::find(tlm_tow_s >= true_tow_s(0), 1, "first");
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ASSERT_EQ(initial_meas_point.is_empty(), false);
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tlm_timestamp_s = tlm_timestamp_s.subvec(initial_meas_point(0), tlm_timestamp_s.size() - 1);
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tlm_tow_s = tlm_tow_s.subvec(initial_meas_point(0), tlm_tow_s.size() - 1);
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check_results(true_timestamp_s, true_tow_s, tlm_timestamp_s, tlm_tow_s);
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std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
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}
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