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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition...

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/*!
* \file beidou_b1i_pcps_acquisition_test.cc
* \brief This class implements an acquisition test for
* BeidouB1iPcpsAcquisition class based on some input parameters.
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
* \author Damian Miralles, 2019. dmiralles2009(at)gmail.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 "Beidou_B1I.h"
#include "acquisition_dump_reader.h"
#include "beidou_b1i_pcps_acquisition.h"
#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gnuplot_i.h"
#include "in_memory_configuration.h"
#include "test_flags.h"
#include <boost/make_shared.hpp>
#include <glog/logging.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 <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
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class BeidouB1iPcpsAcquisitionTest_msg_rx;
using BeidouB1iPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx>;
BeidouB1iPcpsAcquisitionTest_msg_rx_sptr BeidouB1iPcpsAcquisitionTest_msg_rx_make();
class BeidouB1iPcpsAcquisitionTest_msg_rx : public gr::block
{
private:
friend BeidouB1iPcpsAcquisitionTest_msg_rx_sptr BeidouB1iPcpsAcquisitionTest_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
BeidouB1iPcpsAcquisitionTest_msg_rx();
public:
int rx_message;
~BeidouB1iPcpsAcquisitionTest_msg_rx(); //!< Default destructor
};
BeidouB1iPcpsAcquisitionTest_msg_rx_sptr BeidouB1iPcpsAcquisitionTest_msg_rx_make()
{
return BeidouB1iPcpsAcquisitionTest_msg_rx_sptr(new BeidouB1iPcpsAcquisitionTest_msg_rx());
}
void BeidouB1iPcpsAcquisitionTest_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;
}
}
BeidouB1iPcpsAcquisitionTest_msg_rx::BeidouB1iPcpsAcquisitionTest_msg_rx() : gr::block("BeidouB1iPcpsAcquisitionTest_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 BOOST_173_OR_GREATER
boost::bind(&BeidouB1iPcpsAcquisitionTest_msg_rx::msg_handler_events, this, boost::placeholders::_1));
#else
boost::bind(&BeidouB1iPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
#endif
#endif
rx_message = 0;
}
BeidouB1iPcpsAcquisitionTest_msg_rx::~BeidouB1iPcpsAcquisitionTest_msg_rx() = default;
// ###########################################################
class BeidouB1iPcpsAcquisitionTest : public ::testing::Test
{
protected:
BeidouB1iPcpsAcquisitionTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
doppler_max = 5000;
doppler_step = 100;
}
~BeidouB1iPcpsAcquisitionTest() = default;
void init();
void plot_grid();
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro{};
size_t item_size;
unsigned int doppler_max;
unsigned int doppler_step;
};
void BeidouB1iPcpsAcquisitionTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'C';
std::string signal = "B1";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 1;
config->set_property("GNSS-SDR.internal_fs_sps", "25000000");
config->set_property("Acquisition_B1.implementation", "BEIDOU_B1I_PCPS_Acquisition");
config->set_property("Acquisition_B1.item_type", "gr_complex");
config->set_property("Acquisition_B1.coherent_integration_time_ms", "1");
if (FLAGS_plot_acq_grid == true)
{
config->set_property("Acquisition_B1.dump", "true");
}
else
{
config->set_property("Acquisition_B1.dump", "false");
}
config->set_property("Acquisition_B1.dump_filename", "./tmp-acq-bds-b1i/acquisition");
config->set_property("Acquisition_B1.dump_channel", "1");
config->set_property("Acquisition_B1.threshold", "0.0038");
config->set_property("Acquisition_B1.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_B1.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_B1.repeat_satellite", "false");
// config->set_property("Acquisition_B1.pfa", "0.0");
}
void BeidouB1iPcpsAcquisitionTest::plot_grid()
{
// load the measured values
std::string basename = "./tmp-acq-bds-b1i/acquisition_C_B1";
auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
auto samples_per_code = static_cast<unsigned int>(round(25000000 / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS))); // !!
Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
if (!acq_dump.read_binary_acq())
{
std::cout << "Error reading files" << std::endl;
}
std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples;
std::vector<std::vector<float>> *mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_acq_grid has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
std::cout << "Plotting the acquisition grid. This can take a while..." << std::endl;
try
{
fs::path p(gnuplot_executable);
fs::path dir = p.parent_path();
const std::string &gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("lines");
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("BeiDou B1I signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
g1.set_xlabel("Doppler [Hz]");
g1.set_ylabel("Sample");
// g1.cmd("set view 60, 105, 1, 1");
g1.plot_grid3d(*doppler, *samples, *mag);
g1.savetops("BeiDou_B1I_acq_grid");
g1.savetopdf("BeiDou_B1I_acq_grid");
}
catch (const GnuplotException &ge)
{
std::cout << ge.what() << std::endl;
}
}
std::string data_str = "./tmp-acq-bds-b1i";
if (fs::exists(data_str))
{
fs::remove_all(data_str);
}
}
TEST_F(BeidouB1iPcpsAcquisitionTest, Instantiate)
{
init();
std::shared_ptr<BeidouB1iPcpsAcquisition> acquisition = boost::make_shared<BeidouB1iPcpsAcquisition>(config.get(), "Acquisition_B1", 1, 0);
}
TEST_F(BeidouB1iPcpsAcquisitionTest, ConnectAndRun)
{
int fs_in = 25000000;
int nsamples = 25000;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
std::shared_ptr<BeidouB1iPcpsAcquisition> acquisition = boost::make_shared<BeidouB1iPcpsAcquisition>(config.get(), "Acquisition_B1", 1, 0);
std::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB1iPcpsAcquisitionTest_msg_rx_make();
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({
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.";
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}
TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0.0);
top_block = gr::make_top_block("Acquisition test");
double expected_delay_samples = 22216;
double expected_doppler_hz = 125;
init();
if (FLAGS_plot_acq_grid == true)
{
std::string data_str = "./tmp-acq-bds-b1i";
if (fs::exists(data_str))
{
fs::remove_all(data_str);
}
fs::create_directory(data_str);
}
std::shared_ptr<BeidouB1iPcpsAcquisition> acquisition = std::make_shared<BeidouB1iPcpsAcquisition>(config.get(), "Acquisition_B1", 1, 0);
std::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB1iPcpsAcquisitionTest_msg_rx_make();
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_threshold(0.0038);
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(doppler_max);
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_doppler_step(doppler_step);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block.";
ASSERT_NO_THROW({
std::string path = std::string(TEST_PATH);
std::string file = path + "signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat";
const char *file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
top_block->connect(file_source, 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.";
acquisition->set_local_code();
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
acquisition->init();
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.";
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
auto delay_error_chips = static_cast<float>(delay_error_samples * BEIDOU_B1I_CODE_LENGTH_CHIPS / 25000);
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
if (FLAGS_plot_acq_grid == true)
{
plot_grid();
}
}
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