mirror of https://github.com/gnss-sdr/gnss-sdr
392 lines
18 KiB
C++
392 lines
18 KiB
C++
/*!
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* \file gps_l5_telemetry_decoder_gs.cc
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* \brief Implementation of a CNAV message demodulator block
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* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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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 "gps_l5_telemetry_decoder_gs.h"
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#include "display.h"
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#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
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#include "gnss_synchro.h"
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#include "gps_cnav_ephemeris.h"
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#include "gps_cnav_iono.h"
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#include "gps_cnav_utc_model.h" // for Gps_CNAV_Utc_Model
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#include "tlm_utils.h"
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <pmt/pmt.h> // for make_any
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#include <pmt/pmt_sugar.h> // for mp
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#include <bitset> // for std::bitset
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#include <cstddef> // for size_t
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#include <cstdlib> // for std::llabs
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#include <exception> // for std::exception
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#include <iomanip> // for std::setprecision
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#include <iostream> // for std::cout
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gps_l5_telemetry_decoder_gs_sptr
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gps_l5_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf)
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{
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return gps_l5_telemetry_decoder_gs_sptr(new gps_l5_telemetry_decoder_gs(satellite, conf));
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}
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gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
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const Gnss_Satellite &satellite,
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const Tlm_Conf &conf) : gr::block("gps_l5_telemetry_decoder_gs",
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))),
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d_dump_filename(conf.dump_filename),
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d_sample_counter(0),
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d_last_valid_preamble(0),
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d_channel(0),
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d_TOW_at_current_symbol_ms(0U),
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d_TOW_at_Preamble_ms(0U),
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d_flag_PLL_180_deg_phase_locked(false),
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d_flag_valid_word(false),
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d_sent_tlm_failed_msg(false),
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d_dump(conf.dump),
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d_dump_mat(conf.dump_mat),
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d_remove_dat(conf.remove_dat),
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d_enable_navdata_monitor(conf.enable_navdata_monitor),
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d_dump_crc_stats(conf.dump_crc_stats)
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{
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// prevent telemetry symbols accumulation in output buffers
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this->set_max_noutput_items(1);
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// Ephemeris data port out
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this->message_port_register_out(pmt::mp("telemetry"));
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// Control messages to tracking block
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this->message_port_register_out(pmt::mp("telemetry_to_trk"));
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if (d_enable_navdata_monitor)
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{
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// register nav message monitor out
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this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
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d_nav_msg_packet.system = std::string("G");
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d_nav_msg_packet.signal = std::string("L5");
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}
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d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SYMBOLS_PER_BIT * 10; // rise alarm if 20 consecutive subframes have no valid CRC
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "GPS L5 TELEMETRY PROCESSING: satellite " << d_satellite;
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// initialize the CNAV frame decoder (libswiftcnav)
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cnav_msg_decoder_init(&d_cnav_decoder);
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if (d_dump_crc_stats)
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{
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// initialize the telemetry CRC statistics class
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d_Tlm_CRC_Stats = std::make_unique<Tlm_CRC_Stats>();
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d_Tlm_CRC_Stats->initialize(conf.dump_crc_stats_filename);
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}
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else
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{
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d_Tlm_CRC_Stats = nullptr;
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}
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}
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gps_l5_telemetry_decoder_gs::~gps_l5_telemetry_decoder_gs()
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{
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DLOG(INFO) << "GPS L5 Telemetry decoder block (channel " << d_channel << ") destructor called.";
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size_t pos = 0;
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if (d_dump_file.is_open() == true)
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{
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pos = d_dump_file.tellp();
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try
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{
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d_dump_file.close();
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}
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catch (const std::exception &ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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if (pos == 0)
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{
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if (!tlm_remove_file(d_dump_filename))
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{
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LOG(WARNING) << "Error deleting temporary file";
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}
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}
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}
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if (d_dump && (pos != 0) && d_dump_mat)
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{
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save_tlm_matfile(d_dump_filename);
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if (d_remove_dat)
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{
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if (!tlm_remove_file(d_dump_filename))
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{
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LOG(WARNING) << "Error deleting temporary file";
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}
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}
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}
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}
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void gps_l5_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
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{
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
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d_CNAV_Message = Gps_CNAV_Navigation_Message();
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}
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void gps_l5_telemetry_decoder_gs::set_channel(int32_t channel)
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{
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d_channel = channel;
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d_CNAV_Message = Gps_CNAV_Navigation_Message();
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DLOG(INFO) << "GPS L5 CNAV channel set to " << channel;
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_filename.append(std::to_string(d_channel));
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d_dump_filename.append(".dat");
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d_dump_file.exceptions(std::ofstream::failbit | std::ofstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
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<< " Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ofstream::failure &e)
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{
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LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what();
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}
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}
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}
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if (d_dump_crc_stats)
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{
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// set the channel number for the telemetry CRC statistics
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// disable the telemetry CRC statistics if there is a problem opening the output file
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d_dump_crc_stats = d_Tlm_CRC_Stats->set_channel(d_channel);
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}
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}
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void gps_l5_telemetry_decoder_gs::reset()
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{
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d_last_valid_preamble = d_sample_counter;
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d_TOW_at_current_symbol_ms = 0;
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d_sent_tlm_failed_msg = false;
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d_flag_valid_word = false;
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DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
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}
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int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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// get pointers on in- and output gnss-synchro objects
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auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]); // Get the output buffer pointer
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const auto *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // Get the input buffer pointer
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// UPDATE GNSS SYNCHRO DATA
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Gnss_Synchro current_synchro_data{}; // structure to save the synchronization information and send the output object to the next block
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// 1. Copy the current tracking output
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current_synchro_data = in[0];
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consume_each(1); // one by one
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// check if there is a problem with the telemetry of the current satellite
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d_sample_counter++; // count for the processed symbols
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if (d_sent_tlm_failed_msg == false)
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{
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if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
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{
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const int message = 1; // bad telemetry
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this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
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d_sent_tlm_failed_msg = true;
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}
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}
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cnav_msg_t msg;
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uint32_t delay;
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const auto symbol_clip = static_cast<uint8_t>(current_synchro_data.Prompt_Q > 0) * 255;
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// 2. Add the telemetry decoder information
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// check if new CNAV frame is available
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bool new_page = cnav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay);
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if (d_dump_crc_stats && (d_cnav_decoder.part1.message_lock || d_cnav_decoder.part2.message_lock))
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{
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// update CRC statistics
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d_Tlm_CRC_Stats->update_CRC_stats((d_cnav_decoder.part1.crc_ok || d_cnav_decoder.part2.crc_ok));
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d_cnav_decoder.part1.message_lock = false;
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d_cnav_decoder.part2.message_lock = false;
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}
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if (new_page)
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{
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if (d_cnav_decoder.part1.invert == true || d_cnav_decoder.part2.invert == true)
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{
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d_flag_PLL_180_deg_phase_locked = true;
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}
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else
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{
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d_flag_PLL_180_deg_phase_locked = false;
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}
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std::bitset<GPS_L5_CNAV_DATA_PAGE_BITS> raw_bits;
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// Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
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for (uint32_t i = 0; i < GPS_L5_CNAV_DATA_PAGE_BITS; i++)
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{
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raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i / 8] >> (7 - i % 8)) & 1U);
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}
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if (d_enable_navdata_monitor)
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{
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d_nav_msg_packet.nav_message = raw_bits.to_string();
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}
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d_CNAV_Message.decode_page(raw_bits);
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// Push the new navigation data to the queues
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if (d_CNAV_Message.have_new_ephemeris() == true)
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{
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// get ephemeris object for this SV
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const std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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#if __cplusplus == 201103L
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const int default_precision = std::cout.precision();
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#else
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const auto default_precision{std::cout.precision()};
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#endif
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std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel
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<< ": ephemeris from satellite " << d_satellite
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<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz
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<< std::setprecision(default_precision) << " dB-Hz" << std::endl;
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}
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if (d_CNAV_Message.have_new_iono() == true)
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{
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const std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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#if __cplusplus == 201103L
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const int default_precision = std::cout.precision();
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#else
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const auto default_precision{std::cout.precision()};
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#endif
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std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel
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<< ": iono model parameters from satellite " << d_satellite
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<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz << std::setprecision(default_precision)
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<< " dB-Hz" << TEXT_RESET << std::endl;
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}
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if (d_CNAV_Message.have_new_utc_model() == true)
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{
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const std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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#if __cplusplus == 201103L
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const int default_precision = std::cout.precision();
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#else
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const auto default_precision{std::cout.precision()};
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#endif
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std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel
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<< ": UTC model parameters from satellite " << d_satellite
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<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz
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<< std::setprecision(default_precision) << " dB-Hz" << TEXT_RESET << std::endl;
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}
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// update TOW at the preamble instant
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d_TOW_at_Preamble_ms = msg.tow * 6000;
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// The time of the last input symbol can be computed from the message ToW and
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// delay by the formulae:
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// \code
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// symbolTime_ms = msg->tow * 6000 + *pdelay * 10 + (12 * 10); 12 symbols of the encoder's transitory
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// check TOW update consistency
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const uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
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d_TOW_at_current_symbol_ms = msg.tow * 6000 + (delay + 12) * GPS_L5I_SYMBOL_PERIOD_MS;
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if (last_d_TOW_at_current_symbol_ms != 0 && std::llabs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - static_cast<int64_t>(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(GPS_L5I_SYMBOL_PERIOD_MS))
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{
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DLOG(INFO) << "Warning: GPS L5 TOW update in ch " << d_channel
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<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - static_cast<int64_t>(last_d_TOW_at_current_symbol_ms) << " ms "
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<< " with delay: " << delay << " msg tow: " << msg.tow * 6000 << " ms \n";
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d_TOW_at_current_symbol_ms = 0;
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d_flag_valid_word = false;
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}
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else
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{
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d_last_valid_preamble = d_sample_counter;
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d_flag_valid_word = true;
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}
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if (d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
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{
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d_nav_msg_packet.prn = static_cast<int32_t>(current_synchro_data.PRN);
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d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(d_TOW_at_current_symbol_ms);
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const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
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this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
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d_nav_msg_packet.nav_message = "";
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}
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}
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else
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{
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if (d_flag_valid_word)
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{
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d_TOW_at_current_symbol_ms += GPS_L5I_SYMBOL_PERIOD_MS;
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if (current_synchro_data.Flag_valid_symbol_output == false)
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{
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d_flag_valid_word = false;
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}
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}
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}
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if (d_flag_valid_word == true)
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{
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if (d_flag_PLL_180_deg_phase_locked == true)
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{
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// correct the accumulated phase for the Costas loop phase shift, if required
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current_synchro_data.Carrier_phase_rads += GNSS_PI;
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current_synchro_data.Flag_PLL_180_deg_phase_locked = true;
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}
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else
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{
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current_synchro_data.Flag_PLL_180_deg_phase_locked = false;
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}
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current_synchro_data.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
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current_synchro_data.Flag_valid_word = d_flag_valid_word;
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if (d_dump == true)
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{
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// MULTIPLEXED FILE RECORDING - Record results to file
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try
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{
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double tmp_double;
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uint64_t tmp_ulong_int;
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int32_t tmp_int;
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tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
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d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
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tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
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d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
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tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
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d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
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tmp_int = (current_synchro_data.Prompt_Q > 0.0 ? 1 : -1);
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d_dump_file.write(reinterpret_cast<char *>(&tmp_int), sizeof(int32_t));
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tmp_int = static_cast<int32_t>(current_synchro_data.PRN);
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d_dump_file.write(reinterpret_cast<char *>(&tmp_int), sizeof(int32_t));
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}
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catch (const std::ofstream::failure &e)
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{
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LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
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}
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}
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// 3. Make the output (copy the object contents to the GNURadio reserved memory)
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out[0] = current_synchro_data;
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return 1;
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}
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return 0;
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}
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