mirror of
https://github.com/gnss-sdr/gnss-sdr
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375 lines
13 KiB
C++
375 lines
13 KiB
C++
/*!
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* \file beidou_b3i_pcps_acquisition_test.cc
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* \brief This class implements an acquisition test for
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* BeidouB3iPcpsAcquisition class based on some input parameters.
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* \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
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*
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*
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* -----------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2020 (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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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "Beidou_B3I.h"
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#include "acquisition_dump_reader.h"
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#include "beidou_b3i_pcps_acquisition.h"
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#include "concurrent_queue.h"
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#include "gnss_block_interface.h"
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#include "gnss_sdr_valve.h"
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#include "gnss_synchro.h"
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#include "gnuplot_i.h"
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#include "in_memory_configuration.h"
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#include "test_flags.h"
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#include <boost/make_shared.hpp>
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#include <glog/logging.h>
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/blocks/null_sink.h>
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#include <gnuradio/top_block.h>
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#include <gtest/gtest.h>
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#include <pmt/pmt.h>
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#include <chrono>
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#include <utility>
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#ifdef GR_GREATER_38
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#include <gnuradio/analog/sig_source.h>
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#else
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#include <gnuradio/analog/sig_source_c.h>
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#endif
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#if HAS_STD_FILESYSTEM
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#if HAS_STD_FILESYSTEM_EXPERIMENTAL
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#include <experimental/filesystem>
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namespace fs = std::experimental::filesystem;
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#else
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#include <filesystem>
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namespace fs = std::filesystem;
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#endif
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#else
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#include <boost/filesystem.hpp>
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namespace fs = boost::filesystem;
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#endif
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class BeidouB3iPcpsAcquisitionTest_msg_rx;
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using BeidouB3iPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx>;
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BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make();
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class BeidouB3iPcpsAcquisitionTest_msg_rx : public gr::block
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{
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private:
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friend BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make();
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void msg_handler_channel_events(const pmt::pmt_t msg);
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BeidouB3iPcpsAcquisitionTest_msg_rx();
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public:
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int rx_message;
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~BeidouB3iPcpsAcquisitionTest_msg_rx(); //!< Default destructor
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};
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BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make()
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{
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return BeidouB3iPcpsAcquisitionTest_msg_rx_sptr(new BeidouB3iPcpsAcquisitionTest_msg_rx());
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}
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void BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
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{
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try
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{
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int64_t message = pmt::to_long(std::move(msg));
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rx_message = message;
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}
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catch (const boost::bad_any_cast &e)
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{
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LOG(WARNING) << "msg_handler_channel_events Bad any_cast: " << e.what();
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rx_message = 0;
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}
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}
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BeidouB3iPcpsAcquisitionTest_msg_rx::BeidouB3iPcpsAcquisitionTest_msg_rx() : gr::block("BeidouB3iPcpsAcquisitionTest_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"),
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#if HAS_GENERIC_LAMBDA
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[this](auto &&PH1) { msg_handler_channel_events(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
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#else
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boost::bind(&BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_channel_events, this, _1));
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#endif
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#endif
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rx_message = 0;
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}
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BeidouB3iPcpsAcquisitionTest_msg_rx::~BeidouB3iPcpsAcquisitionTest_msg_rx() = default;
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// ###########################################################
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class BeidouB3iPcpsAcquisitionTest : public ::testing::Test
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{
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protected:
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BeidouB3iPcpsAcquisitionTest()
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{
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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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doppler_max = 5000;
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doppler_step = 100;
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}
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~BeidouB3iPcpsAcquisitionTest() = default;
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void init();
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void plot_grid();
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gr::top_block_sptr top_block;
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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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unsigned int doppler_max;
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unsigned int doppler_step;
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};
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void BeidouB3iPcpsAcquisitionTest::init()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'C';
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std::string signal = "B3";
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signal.copy(gnss_synchro.Signal, 2, 0);
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gnss_synchro.PRN = 1;
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config->set_property("GNSS-SDR.internal_fs_sps", "50000000");
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config->set_property("Acquisition_B3.implementation", "BEIDOU_B3I_PCPS_Acquisition");
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config->set_property("Acquisition_B3.item_type", "gr_complex");
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config->set_property("Acquisition_B3.coherent_integration_time_ms", "1");
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if (FLAGS_plot_acq_grid == true)
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{
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config->set_property("Acquisition_B3.dump", "true");
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}
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else
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{
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config->set_property("Acquisition_B3.dump", "false");
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}
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config->set_property("Acquisition_B3.dump_filename", "./tmp-acq-bds-b3i/acquisition");
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config->set_property("Acquisition_B3.dump_channel", "1");
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config->set_property("Acquisition_B3.threshold", "0.00001");
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config->set_property("Acquisition_B3.doppler_max", std::to_string(doppler_max));
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config->set_property("Acquisition_B3.doppler_step", std::to_string(doppler_step));
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config->set_property("Acquisition_B3.repeat_satellite", "false");
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}
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void BeidouB3iPcpsAcquisitionTest::plot_grid()
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{
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// load the measured values
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std::string basename = "./tmp-acq-bds-b3i/acquisition_C_B3";
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auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
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auto samples_per_code = static_cast<unsigned int>(round(50000000 / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS))); // !!
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Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
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if (!acq_dump.read_binary_acq())
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{
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std::cout << "Error reading files\n";
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}
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std::vector<int> *doppler = &acq_dump.doppler;
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std::vector<unsigned int> *samples = &acq_dump.samples;
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std::vector<std::vector<float>> *mag = &acq_dump.mag;
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const std::string gnuplot_executable(FLAGS_gnuplot_executable);
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if (gnuplot_executable.empty())
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{
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std::cout << "WARNING: Although the flag plot_acq_grid has been set to TRUE,\n";
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std::cout << "gnuplot has not been found in your system.\n";
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std::cout << "Test results will not be plotted.\n";
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}
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else
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{
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std::cout << "Plotting the acquisition grid. This can take a while...\n";
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try
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{
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fs::path p(gnuplot_executable);
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fs::path dir = p.parent_path();
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const std::string &gnuplot_path = dir.native();
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Gnuplot::set_GNUPlotPath(gnuplot_path);
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Gnuplot g1("lines");
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if (FLAGS_show_plots)
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{
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g1.showonscreen(); // window output
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}
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else
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{
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g1.disablescreen();
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}
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g1.set_title("BeiDou B3I signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
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g1.set_xlabel("Doppler [Hz]");
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g1.set_ylabel("Sample");
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// g1.cmd("set view 60, 105, 1, 1");
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g1.plot_grid3d(*doppler, *samples, *mag);
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g1.savetops("BDS_B3I_acq_grid");
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g1.savetopdf("BDS_B3I_acq_grid");
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}
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catch (const GnuplotException &ge)
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{
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std::cout << ge.what() << '\n';
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}
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}
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std::string data_str = "./tmp-acq-bds-b3i";
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if (fs::exists(data_str))
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{
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fs::remove_all(data_str);
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}
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}
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TEST_F(BeidouB3iPcpsAcquisitionTest, Instantiate)
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{
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init();
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std::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = boost::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
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}
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TEST_F(BeidouB3iPcpsAcquisitionTest, ConnectAndRun)
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{
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int fs_in = 50000000;
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int nsamples = 50000;
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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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std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
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top_block = gr::make_top_block("Acquisition test");
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init();
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std::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = boost::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
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std::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB3iPcpsAcquisitionTest_msg_rx_make();
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ASSERT_NO_THROW({
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acquisition->connect(top_block);
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auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
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auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get());
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top_block->connect(source, 0, valve, 0);
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top_block->connect(valve, 0, acquisition->get_left_block(), 0);
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top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting the blocks of acquisition test.";
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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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std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
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}
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TEST_F(BeidouB3iPcpsAcquisitionTest, ValidationOfResults)
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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(0.0);
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top_block = gr::make_top_block("Acquisition test");
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double expected_delay_samples = 3380;
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double expected_doppler_hz = 700;
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init();
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if (FLAGS_plot_acq_grid == true)
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{
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std::string data_str = "./tmp-acq-bds-b3i";
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if (fs::exists(data_str))
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{
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fs::remove_all(data_str);
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}
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fs::create_directory(data_str);
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}
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std::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = std::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
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std::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB3iPcpsAcquisitionTest_msg_rx_make();
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ASSERT_NO_THROW({
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acquisition->set_channel(1);
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}) << "Failure setting channel.";
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ASSERT_NO_THROW({
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acquisition->set_gnss_synchro(&gnss_synchro);
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}) << "Failure setting gnss_synchro.";
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ASSERT_NO_THROW({
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acquisition->set_threshold(0.0002);
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}) << "Failure setting threshold.";
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ASSERT_NO_THROW({
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acquisition->set_doppler_max(doppler_max);
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}) << "Failure setting doppler_max.";
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ASSERT_NO_THROW({
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acquisition->set_doppler_step(doppler_step);
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}) << "Failure setting doppler_step.";
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ASSERT_NO_THROW({
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acquisition->connect(top_block);
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}) << "Failure connecting acquisition to the top_block.";
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ASSERT_NO_THROW({
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std::string path = std::string(TEST_PATH);
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std::string file = path + "signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat";
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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(gr_complex), file_name, false);
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top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
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top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting the blocks of acquisition test.";
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acquisition->set_local_code();
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acquisition->set_state(1); // Ensure that acquisition starts at the first sample
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acquisition->init();
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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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uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
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std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
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ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
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double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
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auto delay_error_chips = static_cast<float>(delay_error_samples * BEIDOU_B3I_CODE_LENGTH_CHIPS / 50000);
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double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
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EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
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EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
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if (FLAGS_plot_acq_grid == true)
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{
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plot_grid();
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}
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}
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