mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-16 13:10:35 +00:00
1519 lines
76 KiB
C++
1519 lines
76 KiB
C++
/*!
|
|
* \file tracking_pull-in_test_fpga.cc
|
|
* \brief This class implements a tracking Pull-In test for FPGA HW accelerator
|
|
* implementations based on some input parameters.
|
|
* \authors <ul>
|
|
* <li> Marc Majoral, 2019. mmajoral(at)cttc.cat
|
|
* <li> Javier Arribas, 2018. jarribas(at)cttc.es
|
|
* </ul>
|
|
*
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*
|
|
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
|
* This file is part of GNSS-SDR.
|
|
*
|
|
* Copyright (C) 2012-2020 (see AUTHORS file for a list of contributors)
|
|
* SPDX-License-Identifier: GPL-3.0-or-later
|
|
*
|
|
* -----------------------------------------------------------------------------
|
|
*/
|
|
|
|
#include "GPS_L1_CA.h"
|
|
#include "GPS_L5.h"
|
|
#include "Galileo_E1.h"
|
|
#include "Galileo_E5a.h"
|
|
#include "acquisition_msg_rx.h"
|
|
#include "concurrent_queue.h"
|
|
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
|
|
#include "galileo_e5a_pcps_acquisition_fpga.h"
|
|
#include "gnss_block_factory.h"
|
|
#include "gnss_block_interface.h"
|
|
#include "gnss_sdr_filesystem.h"
|
|
#include "gnuplot_i.h"
|
|
#include "gps_l1_ca_pcps_acquisition_fpga.h"
|
|
#include "gps_l5i_pcps_acquisition_fpga.h"
|
|
#include "in_memory_configuration.h"
|
|
#include "signal_generator_flags.h"
|
|
#include "test_flags.h"
|
|
#include "tracking_dump_reader.h"
|
|
#include "tracking_interface.h"
|
|
#include "tracking_tests_flags.h"
|
|
#include "tracking_true_obs_reader.h"
|
|
#include <armadillo>
|
|
#include <gnuradio/blocks/file_source.h>
|
|
#include <gnuradio/blocks/head.h>
|
|
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
|
#include <gnuradio/blocks/null_sink.h>
|
|
#include <gnuradio/blocks/skiphead.h>
|
|
#include <gnuradio/filter/firdes.h>
|
|
#include <gnuradio/top_block.h>
|
|
#include <gtest/gtest.h>
|
|
#include <pmt/pmt.h>
|
|
#include <chrono>
|
|
#include <cstdint>
|
|
#include <pthread.h>
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#if HAS_GENERIC_LAMBDA
|
|
#else
|
|
#include <boost/bind/bind.hpp>
|
|
#endif
|
|
|
|
#ifdef GR_GREATER_38
|
|
#include <gnuradio/filter/fir_filter_blk.h>
|
|
#else
|
|
#include <gnuradio/filter/fir_filter_ccf.h>
|
|
#endif
|
|
|
|
#if PMT_USES_BOOST_ANY
|
|
namespace wht = boost;
|
|
#else
|
|
namespace wht = std;
|
|
#endif
|
|
|
|
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
|
|
class TrackingPullInTest_msg_rx_Fpga;
|
|
|
|
using TrackingPullInTest_msg_rx_Fpga_sptr = gnss_shared_ptr<TrackingPullInTest_msg_rx_Fpga>;
|
|
|
|
TrackingPullInTest_msg_rx_Fpga_sptr TrackingPullInTest_msg_rx_Fpga_make();
|
|
|
|
class TrackingPullInTest_msg_rx_Fpga : public gr::block
|
|
{
|
|
private:
|
|
friend TrackingPullInTest_msg_rx_Fpga_sptr TrackingPullInTest_msg_rx_Fpga_make();
|
|
void msg_handler_channel_events(const pmt::pmt_t msg);
|
|
TrackingPullInTest_msg_rx_Fpga();
|
|
|
|
public:
|
|
int rx_message;
|
|
~TrackingPullInTest_msg_rx_Fpga(); //!< Default destructor
|
|
};
|
|
|
|
|
|
TrackingPullInTest_msg_rx_Fpga_sptr TrackingPullInTest_msg_rx_Fpga_make()
|
|
{
|
|
return TrackingPullInTest_msg_rx_Fpga_sptr(new TrackingPullInTest_msg_rx_Fpga());
|
|
}
|
|
|
|
|
|
void TrackingPullInTest_msg_rx_Fpga::msg_handler_channel_events(const pmt::pmt_t msg)
|
|
{
|
|
try
|
|
{
|
|
int64_t message = pmt::to_long(std::move(msg));
|
|
rx_message = message; // 3 -> loss of lock
|
|
}
|
|
catch (const wht::bad_any_cast& e)
|
|
{
|
|
LOG(WARNING) << "msg_handler_tracking Bad cast!";
|
|
rx_message = 0;
|
|
}
|
|
}
|
|
|
|
|
|
TrackingPullInTest_msg_rx_Fpga::TrackingPullInTest_msg_rx_Fpga() : gr::block("TrackingPullInTest_msg_rx_Fpga", 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_channel_events(PH1); });
|
|
#else
|
|
#if USE_BOOST_BIND_PLACEHOLDERS
|
|
boost::bind(&TrackingPullInTest_msg_rx_Fpga::msg_handler_channel_events, this, boost::placeholders::_1));
|
|
#else
|
|
boost::bind(&TrackingPullInTest_msg_rx_Fpga::msg_handler_channel_events, this, _1));
|
|
#endif
|
|
#endif
|
|
rx_message = 0;
|
|
}
|
|
|
|
|
|
TrackingPullInTest_msg_rx_Fpga::~TrackingPullInTest_msg_rx_Fpga() = default;
|
|
|
|
|
|
struct DMA_handler_args_trk_pull_in_test
|
|
{
|
|
std::string file;
|
|
int32_t nsamples_tx;
|
|
int32_t skip_used_samples;
|
|
unsigned int freq_band; // 0 for GPS L1/ Galileo E1, 1 for GPS L5/Galileo E5
|
|
float scaling_factor;
|
|
};
|
|
|
|
struct acquisition_handler_args_trk_pull_in_test
|
|
{
|
|
std::shared_ptr<AcquisitionInterface> acquisition;
|
|
};
|
|
|
|
|
|
void* handler_acquisition_trk_pull_in_test(void* arguments)
|
|
{
|
|
// the acquisition is a blocking function so we have to
|
|
// create a thread
|
|
auto* args = (struct acquisition_handler_args_trk_pull_in_test*)arguments;
|
|
args->acquisition->reset();
|
|
return nullptr;
|
|
}
|
|
|
|
|
|
void* handler_DMA_trk_pull_in_test(void* arguments)
|
|
{
|
|
const int MAX_INPUT_SAMPLES_TOTAL = 16384;
|
|
|
|
auto* args = (struct DMA_handler_args_trk_pull_in_test*)arguments;
|
|
|
|
std::string Filename = args->file; // input filename
|
|
int32_t skip_used_samples = args->skip_used_samples;
|
|
int32_t nsamples_tx = args->nsamples_tx;
|
|
|
|
std::vector<int8_t> input_samples(MAX_INPUT_SAMPLES_TOTAL * 2);
|
|
std::vector<int8_t> input_samples_dma(MAX_INPUT_SAMPLES_TOTAL * 2 * 2);
|
|
bool file_completed = false;
|
|
int32_t nsamples_remaining;
|
|
int32_t nsamples_block_size;
|
|
unsigned int dma_index;
|
|
|
|
int tx_fd; // DMA descriptor
|
|
std::ifstream infile;
|
|
|
|
infile.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
|
|
|
try
|
|
{
|
|
infile.open(Filename, std::ios::binary);
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
std::cerr << "Exception opening file " << Filename << '\n';
|
|
return nullptr;
|
|
}
|
|
|
|
// *************************************************************************
|
|
// Open DMA device
|
|
// *************************************************************************
|
|
tx_fd = open("/dev/loop_tx", O_WRONLY);
|
|
if (tx_fd < 0)
|
|
{
|
|
std::cout << "Cannot open loop device\n";
|
|
return nullptr;
|
|
}
|
|
|
|
// *************************************************************************
|
|
// Open input file
|
|
// *************************************************************************
|
|
|
|
#if USE_GLOG_AND_GFLAGS
|
|
uint32_t skip_samples = static_cast<uint32_t>(FLAGS_skip_samples);
|
|
#else
|
|
uint32_t skip_samples = static_cast<uint32_t>(absl::GetFlag(FLAGS_skip_samples));
|
|
#endif
|
|
|
|
if (skip_samples + skip_used_samples > 0)
|
|
{
|
|
try
|
|
{
|
|
infile.ignore((skip_samples + skip_used_samples) * 2);
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
std::cerr << "Exception reading file " << Filename << '\n';
|
|
}
|
|
}
|
|
|
|
nsamples_remaining = nsamples_tx;
|
|
nsamples_block_size = 0;
|
|
|
|
while (file_completed == false)
|
|
{
|
|
dma_index = 0;
|
|
|
|
if (nsamples_remaining > MAX_INPUT_SAMPLES_TOTAL)
|
|
{
|
|
nsamples_block_size = MAX_INPUT_SAMPLES_TOTAL;
|
|
}
|
|
else
|
|
{
|
|
nsamples_block_size = nsamples_remaining;
|
|
}
|
|
|
|
try
|
|
{
|
|
// 2 bytes per complex sample
|
|
infile.read(reinterpret_cast<char*>(input_samples.data()), nsamples_block_size * 2);
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
std::cerr << "Exception reading file " << Filename << '\n';
|
|
}
|
|
|
|
for (int index0 = 0; index0 < (nsamples_block_size * 2); index0 += 2)
|
|
{
|
|
if (args->freq_band == 0)
|
|
{
|
|
// channel 1 (queue 1) -> E5/L5
|
|
input_samples_dma[dma_index] = 0;
|
|
input_samples_dma[dma_index + 1] = 0;
|
|
// channel 0 (queue 0) -> E1/L1
|
|
input_samples_dma[dma_index + 2] = static_cast<int8_t>(input_samples[index0] * args->scaling_factor);
|
|
input_samples_dma[dma_index + 3] = static_cast<int8_t>(input_samples[index0 + 1] * args->scaling_factor);
|
|
}
|
|
else
|
|
{
|
|
// channel 1 (queue 1) -> E5/L5
|
|
input_samples_dma[dma_index] = static_cast<int8_t>(input_samples[index0] * args->scaling_factor);
|
|
input_samples_dma[dma_index + 1] = static_cast<int8_t>(input_samples[index0 + 1] * args->scaling_factor);
|
|
// channel 0 (queue 0) -> E1/L1
|
|
input_samples_dma[dma_index + 2] = 0;
|
|
input_samples_dma[dma_index + 3] = 0;
|
|
}
|
|
|
|
dma_index += 4;
|
|
}
|
|
|
|
if (write(tx_fd, input_samples_dma.data(), nsamples_block_size * 2 * 2) != nsamples_block_size * 2 * 2)
|
|
{
|
|
std::cerr << "Error: DMA could not send all the required samples \n";
|
|
}
|
|
|
|
// Throttle the DMA
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
|
|
|
nsamples_remaining -= nsamples_block_size;
|
|
|
|
if (nsamples_remaining == 0)
|
|
{
|
|
file_completed = true;
|
|
}
|
|
}
|
|
|
|
try
|
|
{
|
|
infile.close();
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
std::cerr << "Exception closing files " << Filename << '\n';
|
|
}
|
|
|
|
try
|
|
{
|
|
close(tx_fd);
|
|
}
|
|
catch (const std::ifstream::failure& e)
|
|
{
|
|
std::cerr << "Exception closing loop device \n";
|
|
}
|
|
|
|
return nullptr;
|
|
}
|
|
|
|
|
|
class TrackingPullInTestFpga : public ::testing::Test
|
|
{
|
|
public:
|
|
enum StringValue
|
|
{
|
|
evGPS_1C,
|
|
evGPS_2S,
|
|
evGPS_L5,
|
|
evSBAS_1C,
|
|
evGAL_1B,
|
|
evGAL_5X,
|
|
evGLO_1G,
|
|
evGLO_2G
|
|
};
|
|
|
|
std::string generator_binary;
|
|
std::string p1;
|
|
std::string p2;
|
|
std::string p3;
|
|
std::string p4;
|
|
std::string p5;
|
|
std::string p6;
|
|
#if USE_GLOG_AND_GFLAGS
|
|
std::string implementation = FLAGS_trk_test_implementation;
|
|
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
|
|
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
|
std::string filename_raw_data = FLAGS_signal_file;
|
|
#else
|
|
std::string implementation = absl::GetFlag(FLAGS_trk_test_implementation);
|
|
const int baseband_sampling_freq = absl::GetFlag(FLAGS_fs_gen_sps);
|
|
std::string filename_rinex_obs = absl::GetFlag(FLAGS_filename_rinex_obs);
|
|
std::string filename_raw_data = absl::GetFlag(FLAGS_signal_file);
|
|
#endif
|
|
std::map<int, double> doppler_measurements_map;
|
|
std::map<int, double> code_delay_measurements_map;
|
|
std::map<int, uint64_t> acq_samplestamp_map;
|
|
|
|
int configure_generator(double CN0_dBHz, int file_idx);
|
|
int generate_signal();
|
|
std::vector<double> check_results_doppler(arma::vec& true_time_s,
|
|
arma::vec& true_value,
|
|
arma::vec& meas_time_s,
|
|
arma::vec& meas_value,
|
|
double& mean_error,
|
|
double& std_dev_error);
|
|
std::vector<double> check_results_acc_carrier_phase(arma::vec& true_time_s,
|
|
arma::vec& true_value,
|
|
arma::vec& meas_time_s,
|
|
arma::vec& meas_value,
|
|
double& mean_error,
|
|
double& std_dev_error);
|
|
std::vector<double> check_results_codephase(arma::vec& true_time_s,
|
|
arma::vec& true_value,
|
|
arma::vec& meas_time_s,
|
|
arma::vec& meas_value,
|
|
double& mean_error,
|
|
double& std_dev_error);
|
|
|
|
TrackingPullInTestFpga()
|
|
{
|
|
factory = std::make_shared<GNSSBlockFactory>();
|
|
config = std::make_shared<InMemoryConfiguration>();
|
|
item_size = sizeof(gr_complex);
|
|
gnss_synchro = Gnss_Synchro();
|
|
}
|
|
|
|
~TrackingPullInTestFpga() = default;
|
|
|
|
void configure_receiver(double PLL_wide_bw_hz,
|
|
double DLL_wide_bw_hz,
|
|
double PLL_narrow_bw_hz,
|
|
double DLL_narrow_bw_hz,
|
|
int extend_correlation_symbols);
|
|
|
|
bool acquire_signal(int SV_ID);
|
|
gr::top_block_sptr top_block;
|
|
std::shared_ptr<GNSSBlockFactory> factory;
|
|
std::shared_ptr<InMemoryConfiguration> config;
|
|
Gnss_Synchro gnss_synchro;
|
|
size_t item_size;
|
|
|
|
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
|
|
|
|
static const int32_t TEST_TRK_PULL_IN_TEST_SKIP_SAMPLES = 1024; // 48
|
|
static constexpr float DMA_SIGNAL_SCALING_FACTOR = 8.0;
|
|
};
|
|
|
|
|
|
int TrackingPullInTestFpga::configure_generator(double CN0_dBHz, int file_idx)
|
|
{
|
|
#if USE_GLOG_AND_GFLAGS
|
|
// Configure signal generator
|
|
generator_binary = FLAGS_generator_binary;
|
|
|
|
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
|
|
if (FLAGS_dynamic_position.empty())
|
|
{
|
|
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
|
|
}
|
|
else
|
|
{
|
|
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
|
}
|
|
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
|
p4 = std::string("-sig_out_file=") + FLAGS_signal_file + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
|
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
|
|
p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
|
|
#else
|
|
// Configure signal generator
|
|
generator_binary = absl::GetFlag(FLAGS_generator_binary);
|
|
|
|
p1 = std::string("-rinex_nav_file=") + absl::GetFlag(FLAGS_rinex_nav_file);
|
|
if (absl::GetFlag(FLAGS_dynamic_position).empty())
|
|
{
|
|
p2 = std::string("-static_position=") + absl::GetFlag(FLAGS_static_position) + std::string(",") + std::to_string(absl::GetFlag(FLAGS_duration) * 10);
|
|
}
|
|
else
|
|
{
|
|
p2 = std::string("-obs_pos_file=") + std::string(absl::GetFlag(FLAGS_dynamic_position));
|
|
}
|
|
p3 = std::string("-rinex_obs_file=") + absl::GetFlag(FLAGS_filename_rinex_obs); // RINEX 2.10 observation file output
|
|
p4 = std::string("-sig_out_file=") + absl::GetFlag(FLAGS_signal_file) + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
|
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); // Baseband sampling frequency [MSps]
|
|
p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
|
|
#endif
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
int TrackingPullInTestFpga::generate_signal()
|
|
{
|
|
int child_status;
|
|
|
|
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], &p6[0], nullptr};
|
|
|
|
int pid;
|
|
if ((pid = fork()) == -1)
|
|
{
|
|
perror("fork err");
|
|
}
|
|
else if (pid == 0)
|
|
{
|
|
execv(&generator_binary[0], parmList);
|
|
std::cout << "Return not expected. Must be an execv err.\n";
|
|
std::terminate();
|
|
}
|
|
|
|
waitpid(pid, &child_status, 0);
|
|
|
|
std::cout << "Signal and Observables RINEX and RAW files created.\n";
|
|
return 0;
|
|
}
|
|
|
|
|
|
// When using the FPGA the acquisition class calls the states
|
|
// of the channel finite state machine directly. This is done
|
|
// in order to reduce the latency of the receiver when going
|
|
// from acquisition to tracking. In order to execute the
|
|
// acquisition in the unit tests we need to create a derived
|
|
// class of the channel finite state machine. Some of the states
|
|
// of the channel state machine are modified here, in order to
|
|
// simplify the instantiation of the acquisition class in the
|
|
// unit test.
|
|
class ChannelFsm_trk_pull_in_test : public ChannelFsm
|
|
{
|
|
public:
|
|
bool Event_valid_acquisition() override
|
|
{
|
|
acquisition_successful = true;
|
|
return true;
|
|
}
|
|
|
|
bool Event_failed_acquisition_repeat() override
|
|
{
|
|
acquisition_successful = false;
|
|
return true;
|
|
}
|
|
|
|
bool Event_failed_acquisition_no_repeat() override
|
|
{
|
|
acquisition_successful = false;
|
|
return true;
|
|
}
|
|
|
|
bool Event_check_test_result()
|
|
{
|
|
return acquisition_successful;
|
|
}
|
|
|
|
void Event_clear_test_result()
|
|
{
|
|
acquisition_successful = false;
|
|
}
|
|
|
|
private:
|
|
bool acquisition_successful;
|
|
};
|
|
|
|
|
|
void TrackingPullInTestFpga::configure_receiver(
|
|
double PLL_wide_bw_hz,
|
|
double DLL_wide_bw_hz,
|
|
double PLL_narrow_bw_hz,
|
|
double DLL_narrow_bw_hz,
|
|
int extend_correlation_symbols)
|
|
{
|
|
config = std::make_shared<InMemoryConfiguration>();
|
|
config->set_property("Tracking.dump", "true");
|
|
config->set_property("Tracking.dump_filename", "./tracking_ch_");
|
|
config->set_property("Tracking.implementation", implementation);
|
|
config->set_property("Tracking.pll_bw_hz", std::to_string(PLL_wide_bw_hz));
|
|
config->set_property("Tracking.dll_bw_hz", std::to_string(DLL_wide_bw_hz));
|
|
config->set_property("Tracking.extend_correlation_symbols", std::to_string(extend_correlation_symbols));
|
|
config->set_property("Tracking.pll_bw_narrow_hz", std::to_string(PLL_narrow_bw_hz));
|
|
config->set_property("Tracking.dll_bw_narrow_hz", std::to_string(DLL_narrow_bw_hz));
|
|
#if USE_GLOG_AND_GFLAGS
|
|
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
|
|
#else
|
|
gnss_synchro.PRN = absl::GetFlag(FLAGS_test_satellite_PRN);
|
|
#endif
|
|
gnss_synchro.Channel_ID = 0;
|
|
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
|
|
|
std::string System_and_Signal;
|
|
if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
gnss_synchro.System = 'G';
|
|
std::string signal = "1C";
|
|
System_and_Signal = "GPS L1 CA";
|
|
signal.copy(gnss_synchro.Signal, 2, 0);
|
|
config->set_property("Tracking.early_late_space_chips", "0.5");
|
|
config->set_property("Tracking.early_late_space_narrow_chips", "0.5");
|
|
}
|
|
else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_FPGA")
|
|
{
|
|
gnss_synchro.System = 'E';
|
|
std::string signal = "1B";
|
|
System_and_Signal = "Galileo E1B";
|
|
signal.copy(gnss_synchro.Signal, 2, 0);
|
|
config->set_property("Tracking.early_late_space_chips", "0.15");
|
|
config->set_property("Tracking.very_early_late_space_chips", "0.6");
|
|
config->set_property("Tracking.early_late_space_narrow_chips", "0.15");
|
|
config->set_property("Tracking.very_early_late_space_narrow_chips", "0.6");
|
|
config->set_property("Tracking.track_pilot", "true");
|
|
}
|
|
else if (implementation == "Galileo_E5a_DLL_PLL_Tracking_FPGA" or implementation == "Galileo_E5a_DLL_PLL_Tracking_b_Fpga")
|
|
{
|
|
gnss_synchro.System = 'E';
|
|
std::string signal = "5X";
|
|
System_and_Signal = "Galileo E5a";
|
|
signal.copy(gnss_synchro.Signal, 2, 0);
|
|
if (implementation == "Galileo_E5a_DLL_PLL_Tracking_b")
|
|
{
|
|
config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking_FPGA"));
|
|
}
|
|
config->set_property("Tracking.early_late_space_chips", "0.5");
|
|
config->set_property("Tracking.track_pilot", "true");
|
|
config->set_property("Tracking.order", "2");
|
|
}
|
|
else if (implementation == "GPS_L5_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
gnss_synchro.System = 'G';
|
|
std::string signal = "L5";
|
|
System_and_Signal = "GPS L5I";
|
|
signal.copy(gnss_synchro.Signal, 2, 0);
|
|
config->set_property("Tracking.early_late_space_chips", "0.5");
|
|
config->set_property("Tracking.track_pilot", "true");
|
|
config->set_property("Tracking.order", "2");
|
|
}
|
|
else
|
|
{
|
|
std::cout << "The test can not run with the selected tracking implementation\n ";
|
|
throw(std::exception());
|
|
}
|
|
|
|
std::cout << "*****************************************\n";
|
|
std::cout << "*** Tracking configuration parameters ***\n";
|
|
std::cout << "*****************************************\n";
|
|
std::cout << "Signal: " << System_and_Signal << "\n";
|
|
std::cout << "implementation: " << config->property("Tracking.implementation", std::string("undefined")) << " \n";
|
|
std::cout << "pll_bw_hz: " << config->property("Tracking.pll_bw_hz", 0.0) << " Hz\n";
|
|
std::cout << "dll_bw_hz: " << config->property("Tracking.dll_bw_hz", 0.0) << " Hz\n";
|
|
std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
|
|
std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
|
|
std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
|
|
std::cout << "*****************************************\n";
|
|
std::cout << "*****************************************\n";
|
|
}
|
|
|
|
|
|
bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
|
|
{
|
|
pthread_t thread_DMA, thread_acquisition;
|
|
|
|
// fsm
|
|
std::shared_ptr<ChannelFsm_trk_pull_in_test> channel_fsm_;
|
|
channel_fsm_ = std::make_shared<ChannelFsm_trk_pull_in_test>();
|
|
bool acquisition_successful;
|
|
|
|
// Satellite signal definition
|
|
Gnss_Synchro tmp_gnss_synchro;
|
|
tmp_gnss_synchro.Channel_ID = 0;
|
|
// config = std::make_shared<InMemoryConfiguration>();
|
|
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
|
|
|
|
std::shared_ptr<AcquisitionInterface> acquisition;
|
|
|
|
std::string System_and_Signal;
|
|
std::string signal;
|
|
struct DMA_handler_args_trk_pull_in_test args;
|
|
struct acquisition_handler_args_trk_pull_in_test args_acq;
|
|
|
|
#if USE_GLOG_AND_GFLAGS
|
|
std::string file = FLAGS_signal_file;
|
|
#else
|
|
std::string file = absl::GetFlag(FLAGS_signal_file);
|
|
#endif
|
|
args.file = file; // DMA file configuration
|
|
|
|
// instantiate the FPGA switch and set the
|
|
// switch position to DMA.
|
|
std::shared_ptr<Fpga_Switch> switch_fpga;
|
|
switch_fpga = std::make_shared<Fpga_Switch>();
|
|
switch_fpga->set_switch_position(0); // set switch position to DMA
|
|
|
|
// create the correspondign acquisition block according to the desired tracking signal
|
|
if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
tmp_gnss_synchro.System = 'G';
|
|
signal = "1C";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "GPS L1 CA";
|
|
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
|
|
args.freq_band = 0; // frequency band on which the DMA has to transfer the samples
|
|
}
|
|
else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_FPGA")
|
|
{
|
|
tmp_gnss_synchro.System = 'E';
|
|
signal = "1B";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "Galileo E1B";
|
|
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
|
|
args.freq_band = 0; // frequency band on which the DMA has to transfer the samples
|
|
}
|
|
else if (implementation == "Galileo_E5a_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
tmp_gnss_synchro.System = 'E';
|
|
signal = "5X";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "Galileo E5a";
|
|
acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
|
|
args.freq_band = 1; // frequency band on which the DMA has to transfer the samples
|
|
}
|
|
else if (implementation == "GPS_L5_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
tmp_gnss_synchro.System = 'G';
|
|
signal = "L5";
|
|
const char* str = signal.c_str(); // get a C style null terminated string
|
|
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
|
|
tmp_gnss_synchro.PRN = SV_ID;
|
|
System_and_Signal = "GPS L5I";
|
|
acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
|
|
args.freq_band = 1; // frequency band on which the DMA has to transfer the samples
|
|
}
|
|
else
|
|
{
|
|
std::cout << "The test can not run with the selected tracking implementation\n ";
|
|
throw(std::exception());
|
|
}
|
|
|
|
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
|
|
acquisition->set_channel_fsm(channel_fsm_);
|
|
acquisition->set_channel(0);
|
|
#if USE_GLOG_AND_GFLAGS
|
|
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz));
|
|
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz));
|
|
acquisition->set_doppler_center(0);
|
|
acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
|
|
#else
|
|
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", absl::GetFlag(FLAGS_external_signal_acquisition_doppler_max_hz)));
|
|
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", absl::GetFlag(FLAGS_external_signal_acquisition_doppler_step_hz)));
|
|
acquisition->set_doppler_center(0);
|
|
acquisition->set_threshold(config->property("Acquisition.threshold", absl::GetFlag(FLAGS_external_signal_acquisition_threshold)));
|
|
#endif
|
|
std::chrono::time_point<std::chrono::system_clock> start, end;
|
|
std::chrono::duration<double> elapsed_seconds;
|
|
start = std::chrono::system_clock::now();
|
|
|
|
bool start_msg = true;
|
|
|
|
doppler_measurements_map.clear();
|
|
code_delay_measurements_map.clear();
|
|
acq_samplestamp_map.clear();
|
|
|
|
unsigned int MAX_PRN_IDX = 0;
|
|
|
|
switch (tmp_gnss_synchro.System)
|
|
{
|
|
case 'G':
|
|
MAX_PRN_IDX = 33;
|
|
break;
|
|
case 'E':
|
|
MAX_PRN_IDX = 37;
|
|
break;
|
|
default:
|
|
MAX_PRN_IDX = 33;
|
|
}
|
|
|
|
// number of samples that the DMA has to transfer
|
|
unsigned int nsamples_to_transfer;
|
|
if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
|
|
}
|
|
else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_FPGA")
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
|
|
}
|
|
else if (implementation == "Galileo_E5a_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS)));
|
|
}
|
|
else // (if (implementation.compare("GPS_L5_DLL_PLL_Tracking_FPGA") == 0))
|
|
{
|
|
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5I_CODE_RATE_CPS / GPS_L5I_CODE_LENGTH_CHIPS)));
|
|
}
|
|
|
|
// set the scaling factor
|
|
args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR;
|
|
|
|
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
|
|
{
|
|
tmp_gnss_synchro.PRN = PRN;
|
|
|
|
channel_fsm_->Event_clear_test_result();
|
|
|
|
acquisition->stop_acquisition(); // reset the whole system including the sample counters
|
|
acquisition->init();
|
|
acquisition->set_local_code();
|
|
|
|
if ((implementation == "GPS_L1_CA_DLL_PLL_Tracking_FPGA") or (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_FPGA"))
|
|
{
|
|
// Configure the DMA to send TEST_TRK_PULL_IN_TEST_SKIP_SAMPLES in order to initialize the internal
|
|
// states of the downsampling filter in the FPGA
|
|
args.skip_used_samples = 0;
|
|
args.nsamples_tx = TEST_TRK_PULL_IN_TEST_SKIP_SAMPLES;
|
|
|
|
// create DMA child process
|
|
if (pthread_create(&thread_DMA, nullptr, handler_DMA_trk_pull_in_test, reinterpret_cast<void*>(&args)) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process\n";
|
|
}
|
|
|
|
pthread_join(thread_DMA, nullptr);
|
|
|
|
// Configure the DMA to skip the samples that were used to initialize the internal states of the
|
|
// downsampling filter in the FPGA
|
|
args.skip_used_samples = TEST_TRK_PULL_IN_TEST_SKIP_SAMPLES;
|
|
}
|
|
else
|
|
{
|
|
args.skip_used_samples = 0;
|
|
}
|
|
|
|
// Configure the DMA to send the required samples to perform an acquisition
|
|
args.nsamples_tx = nsamples_to_transfer;
|
|
|
|
// run the acquisition. The acquisition must run in a separate thread because it is a blocking function
|
|
args_acq.acquisition = acquisition;
|
|
|
|
if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_trk_pull_in_test, reinterpret_cast<void*>(&args_acq)) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create acquisition Process\n";
|
|
}
|
|
|
|
if (start_msg == true)
|
|
{
|
|
#if USE_GLOG_AND_GFLAGS
|
|
std::cout << "Reading external signal file: " << FLAGS_signal_file << '\n';
|
|
#else
|
|
std::cout << "Reading external signal file: " << absl::GetFlag(FLAGS_signal_file) << '\n';
|
|
#endif
|
|
std::cout << "Searching for " << System_and_Signal << " Satellites...\n";
|
|
std::cout << "[";
|
|
start_msg = false;
|
|
}
|
|
|
|
// wait to give time for the acquisition thread to set up the acquisition HW accelerator in the FPGA
|
|
usleep(1000000);
|
|
|
|
// create DMA child process
|
|
if (pthread_create(&thread_DMA, nullptr, handler_DMA_trk_pull_in_test, reinterpret_cast<void*>(&args)) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process\n";
|
|
}
|
|
|
|
// wait until the acquisition is finished
|
|
pthread_join(thread_acquisition, nullptr);
|
|
|
|
// wait for the child DMA process to finish
|
|
pthread_join(thread_DMA, nullptr);
|
|
|
|
acquisition_successful = channel_fsm_->Event_check_test_result();
|
|
|
|
if (acquisition_successful)
|
|
{
|
|
std::cout << " " << PRN << " ";
|
|
doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
|
|
code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
|
|
acq_samplestamp_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_samplestamp_samples));
|
|
}
|
|
else
|
|
{
|
|
std::cout << " . ";
|
|
}
|
|
|
|
std::cout.flush();
|
|
}
|
|
|
|
std::cout << "]\n";
|
|
std::cout << "-------------------------------------------\n";
|
|
|
|
for (auto& x : doppler_measurements_map)
|
|
{
|
|
std::cout << "DETECTED SATELLITE " << System_and_Signal << " PRN: " << x.first << " with Doppler: " << x.second << " [Hz], code phase: " << code_delay_measurements_map.at(x.first) << " [samples] at signal SampleStamp " << acq_samplestamp_map.at(x.first) << "\n";
|
|
}
|
|
|
|
// report the elapsed time
|
|
end = std::chrono::system_clock::now();
|
|
elapsed_seconds = end - start;
|
|
std::cout << "Total signal acquisition run time "
|
|
<< elapsed_seconds.count()
|
|
<< " [seconds]\n";
|
|
return true;
|
|
}
|
|
|
|
|
|
TEST_F(TrackingPullInTestFpga, ValidationOfResults)
|
|
{
|
|
// pointer to the DMA thread that sends the samples to the acquisition engine
|
|
pthread_t thread_DMA;
|
|
|
|
struct DMA_handler_args_trk_pull_in_test args;
|
|
|
|
// *************************************************
|
|
// ***** STEP 1: Prepare the parameters sweep ******
|
|
// *************************************************
|
|
std::vector<double>
|
|
acq_doppler_error_hz_values;
|
|
std::vector<std::vector<double>> acq_delay_error_chips_values; // vector of vector
|
|
#if USE_GLOG_AND_GFLAGS
|
|
for (double doppler_hz = FLAGS_acq_Doppler_error_hz_start; doppler_hz >= FLAGS_acq_Doppler_error_hz_stop; doppler_hz = doppler_hz + FLAGS_acq_Doppler_error_hz_step)
|
|
#else
|
|
for (double doppler_hz = absl::GetFlag(FLAGS_acq_Doppler_error_hz_start); doppler_hz >= absl::GetFlag(FLAGS_acq_Doppler_error_hz_stop); doppler_hz = doppler_hz + absl::GetFlag(FLAGS_acq_Doppler_error_hz_step))
|
|
#endif
|
|
{
|
|
acq_doppler_error_hz_values.push_back(doppler_hz);
|
|
std::vector<double> tmp_vector;
|
|
// Code Delay Sweep
|
|
#if USE_GLOG_AND_GFLAGS
|
|
for (double code_delay_chips = FLAGS_acq_Delay_error_chips_start; code_delay_chips >= FLAGS_acq_Delay_error_chips_stop; code_delay_chips = code_delay_chips + FLAGS_acq_Delay_error_chips_step)
|
|
#else
|
|
for (double code_delay_chips = absl::GetFlag(FLAGS_acq_Delay_error_chips_start); code_delay_chips >= absl::GetFlag(FLAGS_acq_Delay_error_chips_stop); code_delay_chips = code_delay_chips + absl::GetFlag(FLAGS_acq_Delay_error_chips_step))
|
|
#endif
|
|
{
|
|
tmp_vector.push_back(code_delay_chips);
|
|
}
|
|
acq_delay_error_chips_values.push_back(tmp_vector);
|
|
}
|
|
|
|
// ***********************************************************
|
|
// ***** STEP 2: Generate the input signal (if required) *****
|
|
// ***********************************************************
|
|
std::vector<double> generator_CN0_values;
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (FLAGS_enable_external_signal_file)
|
|
{
|
|
generator_CN0_values.push_back(999); // an external input signal capture is selected, no CN0 information available
|
|
}
|
|
else
|
|
{
|
|
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
|
|
{
|
|
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
|
|
}
|
|
else
|
|
{
|
|
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
|
|
{
|
|
generator_CN0_values.push_back(cn0);
|
|
}
|
|
}
|
|
}
|
|
#else
|
|
if (absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
generator_CN0_values.push_back(999); // an external input signal capture is selected, no CN0 information available
|
|
}
|
|
else
|
|
{
|
|
if (absl::GetFlag(FLAGS_CN0_dBHz_start) == absl::GetFlag(FLAGS_CN0_dBHz_stop))
|
|
{
|
|
generator_CN0_values.push_back(absl::GetFlag(FLAGS_CN0_dBHz_start));
|
|
}
|
|
else
|
|
{
|
|
for (double cn0 = absl::GetFlag(FLAGS_CN0_dBHz_start); cn0 > absl::GetFlag(FLAGS_CN0_dBHz_stop); cn0 = cn0 - absl::GetFlag(FLAGS_CN0_dB_step))
|
|
{
|
|
generator_CN0_values.push_back(cn0);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// use generator or use an external capture file
|
|
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (FLAGS_enable_external_signal_file)
|
|
{
|
|
// create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
|
|
ASSERT_EQ(acquire_signal(FLAGS_test_satellite_PRN), true);
|
|
bool found_satellite = doppler_measurements_map.find(FLAGS_test_satellite_PRN) != doppler_measurements_map.end();
|
|
EXPECT_TRUE(found_satellite) << "Error: satellite SV: " << FLAGS_test_satellite_PRN << " is not acquired";
|
|
#else
|
|
if (absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
// create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
|
|
ASSERT_EQ(acquire_signal(absl::GetFlag(FLAGS_test_satellite_PRN)), true);
|
|
bool found_satellite = doppler_measurements_map.find(absl::GetFlag(FLAGS_test_satellite_PRN)) != doppler_measurements_map.end();
|
|
EXPECT_TRUE(found_satellite) << "Error: satellite SV: " << absl::GetFlag(FLAGS_test_satellite_PRN) << " is not acquired";
|
|
#endif
|
|
if (!found_satellite)
|
|
{
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
|
{
|
|
// Configure the signal generator
|
|
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
|
|
// Generate signal raw signal samples and observations RINEX file
|
|
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (FLAGS_disable_generator == false)
|
|
#else
|
|
if (absl::GetFlag(FLAGS_disable_generator) == false)
|
|
#endif
|
|
{
|
|
generate_signal();
|
|
}
|
|
}
|
|
}
|
|
#if USE_GLOG_AND_GFLAGS
|
|
configure_receiver(FLAGS_PLL_bw_hz_start,
|
|
FLAGS_DLL_bw_hz_start,
|
|
FLAGS_PLL_narrow_bw_hz,
|
|
FLAGS_DLL_narrow_bw_hz,
|
|
FLAGS_extend_correlation_symbols);
|
|
#else
|
|
configure_receiver(absl::GetFlag(FLAGS_PLL_bw_hz_start),
|
|
absl::GetFlag(FLAGS_DLL_bw_hz_start),
|
|
absl::GetFlag(FLAGS_PLL_narrow_bw_hz),
|
|
absl::GetFlag(FLAGS_DLL_narrow_bw_hz),
|
|
absl::GetFlag(FLAGS_extend_correlation_symbols));
|
|
#endif
|
|
|
|
// ******************************************************************************************
|
|
// ***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
|
|
// ******************************************************************************************
|
|
int test_satellite_PRN = 0;
|
|
double true_acq_doppler_hz = 0.0;
|
|
double true_acq_delay_samples = 0.0;
|
|
uint64_t acq_samplestamp_samples = 0;
|
|
|
|
Tracking_True_Obs_Reader true_obs_data;
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
test_satellite_PRN = FLAGS_test_satellite_PRN;
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
test_satellite_PRN = absl::GetFlag(FLAGS_test_satellite_PRN);
|
|
#endif
|
|
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
|
true_obs_file.append(std::to_string(test_satellite_PRN));
|
|
true_obs_file.append(".dat");
|
|
true_obs_data.close_obs_file();
|
|
ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
|
|
// load acquisition data based on the first epoch of the true observations
|
|
ASSERT_EQ(true_obs_data.read_binary_obs(), true)
|
|
<< "Failure reading true tracking dump file.\n"
|
|
#if USE_GLOG_AND_GFLAGS
|
|
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
|
|
#else
|
|
<< "Maybe sat PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) +
|
|
#endif
|
|
" is not available?";
|
|
std::cout << "Testing satellite PRN=" << test_satellite_PRN << '\n';
|
|
std::cout << "True Initial Doppler " << true_obs_data.doppler_l1_hz << " [Hz], true Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << "[Chips]\n";
|
|
true_acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
|
true_acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD_S;
|
|
acq_samplestamp_samples = 0;
|
|
}
|
|
else
|
|
{
|
|
#if USE_GLOG_AND_GFLAGS
|
|
true_acq_doppler_hz = doppler_measurements_map.find(FLAGS_test_satellite_PRN)->second;
|
|
true_acq_delay_samples = code_delay_measurements_map.find(FLAGS_test_satellite_PRN)->second;
|
|
acq_samplestamp_samples = acq_samplestamp_map.find(FLAGS_test_satellite_PRN)->second;
|
|
#else
|
|
true_acq_doppler_hz = doppler_measurements_map.find(absl::GetFlag(FLAGS_test_satellite_PRN))->second;
|
|
true_acq_delay_samples = code_delay_measurements_map.find(absl::GetFlag(FLAGS_test_satellite_PRN))->second;
|
|
acq_samplestamp_samples = acq_samplestamp_map.find(absl::GetFlag(FLAGS_test_satellite_PRN))->second;
|
|
#endif
|
|
|
|
std::cout << "Estimated Initial Doppler " << true_acq_doppler_hz
|
|
<< " [Hz], estimated Initial code delay " << true_acq_delay_samples << " [Samples]"
|
|
#if USE_GLOG_AND_GFLAGS
|
|
<< " Acquisition SampleStamp is " << acq_samplestamp_map.find(FLAGS_test_satellite_PRN)->second << '\n';
|
|
#else
|
|
<< " Acquisition SampleStamp is " << acq_samplestamp_map.find(absl::GetFlag(FLAGS_test_satellite_PRN))->second << '\n';
|
|
#endif
|
|
}
|
|
#if USE_GLOG_AND_GFLAGS
|
|
int64_t acq_to_trk_delay_samples = ceil(static_cast<double>(FLAGS_fs_gen_sps) * FLAGS_acq_to_trk_delay_s);
|
|
#else
|
|
int64_t acq_to_trk_delay_samples = ceil(static_cast<double>(absl::GetFlag(FLAGS_fs_gen_sps)) * absl::GetFlag(FLAGS_acq_to_trk_delay_s));
|
|
#endif
|
|
|
|
// set the scaling factor
|
|
args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR;
|
|
|
|
// CN0 LOOP
|
|
std::vector<std::vector<double>> pull_in_results_v_v;
|
|
|
|
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
|
{
|
|
std::vector<double> pull_in_results_v;
|
|
for (unsigned int current_acq_doppler_error_idx = 0; current_acq_doppler_error_idx < acq_doppler_error_hz_values.size(); current_acq_doppler_error_idx++)
|
|
{
|
|
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
|
|
{
|
|
gnss_synchro.Acq_samplestamp_samples = acq_samplestamp_samples;
|
|
// simulate a Doppler error in acquisition
|
|
gnss_synchro.Acq_doppler_hz = true_acq_doppler_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx);
|
|
// simulate Code Delay error in acquisition
|
|
gnss_synchro.Acq_delay_samples = true_acq_delay_samples + (acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) / GPS_L1_CA_CODE_RATE_CPS) * static_cast<double>(baseband_sampling_freq);
|
|
|
|
// We need to reset the HW again in order to reset the sample counter.
|
|
// The HW is reset by sending a command to the acquisition HW accelerator
|
|
// In order to send the reset command to the HW we instantiate the acquisition module.
|
|
std::shared_ptr<AcquisitionInterface> acquisition;
|
|
|
|
// reset the HW to clear the sample counters: the acquisition constructor generates a reset
|
|
if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 0;
|
|
}
|
|
else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_FPGA")
|
|
{
|
|
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 0;
|
|
}
|
|
else if (implementation == "Galileo_E5a_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 1;
|
|
}
|
|
else if (implementation == "GPS_L5_DLL_PLL_Tracking_FPGA")
|
|
{
|
|
acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
|
|
args.freq_band = 1;
|
|
}
|
|
else
|
|
{
|
|
std::cout << "The test can not run with the selected tracking implementation\n ";
|
|
throw(std::exception());
|
|
}
|
|
|
|
acquisition->stop_acquisition(); // reset the whole system including the sample counters
|
|
|
|
// create flowgraph
|
|
top_block = gr::make_top_block("Tracking test");
|
|
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config.get(), "Tracking", 1, 1);
|
|
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
|
|
auto msg_rx = TrackingPullInTest_msg_rx_Fpga_make();
|
|
|
|
ASSERT_NO_THROW({
|
|
tracking->set_channel(gnss_synchro.Channel_ID);
|
|
}) << "Failure setting channel.";
|
|
|
|
ASSERT_NO_THROW({
|
|
tracking->set_gnss_synchro(&gnss_synchro);
|
|
}) << "Failure setting gnss_synchro.";
|
|
|
|
ASSERT_NO_THROW({
|
|
tracking->connect(top_block);
|
|
}) << "Failure connecting tracking to the top_block.";
|
|
|
|
std::string file;
|
|
ASSERT_NO_THROW({
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
#endif
|
|
{
|
|
file = "./" + filename_raw_data + std::to_string(current_cn0_idx);
|
|
}
|
|
else
|
|
{
|
|
#if USE_GLOG_AND_GFLAGS
|
|
file = FLAGS_signal_file;
|
|
#else
|
|
file = absl::GetFlag(FLAGS_signal_file);
|
|
#endif
|
|
}
|
|
|
|
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
|
top_block->connect(tracking->get_right_block(), 0, sink, 0);
|
|
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
|
}) << "Failure connecting the blocks of tracking test.";
|
|
|
|
// initialize the internal status of the LPF in the FPGA in the L1/E1 frequency band
|
|
|
|
// ********************************************************************
|
|
// ***** STEP 5: Perform the signal tracking and read the results *****
|
|
// ********************************************************************
|
|
std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---\n";
|
|
std::chrono::time_point<std::chrono::system_clock> start, end;
|
|
|
|
top_block->start();
|
|
|
|
usleep(1000000); // give time for the system to start before receiving the start tracking command.
|
|
|
|
if (acq_to_trk_delay_samples > 0)
|
|
{
|
|
#if USE_GLOG_AND_GFLAGS
|
|
std::cout << "--- SIMULATING A PULL-IN DELAY OF " << FLAGS_acq_to_trk_delay_s << " SECONDS ---\n";
|
|
#else
|
|
std::cout << "--- SIMULATING A PULL-IN DELAY OF " << absl::GetFlag(FLAGS_acq_to_trk_delay_s) << " SECONDS ---\n";
|
|
#endif
|
|
args.file = file;
|
|
args.nsamples_tx = acq_to_trk_delay_samples; // 150 s for now but will be all file
|
|
|
|
args.skip_used_samples = 0;
|
|
|
|
if (pthread_create(&thread_DMA, nullptr, handler_DMA_trk_pull_in_test, reinterpret_cast<void*>(&args)) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process\n";
|
|
}
|
|
}
|
|
|
|
std::cout << " Starting tracking...\n";
|
|
|
|
tracking->start_tracking();
|
|
std::cout << " Waiting flowgraph..\n";
|
|
|
|
args.file = file;
|
|
#if USE_GLOG_AND_GFLAGS
|
|
args.nsamples_tx = baseband_sampling_freq * FLAGS_duration;
|
|
#else
|
|
args.nsamples_tx = baseband_sampling_freq * absl::GetFlag(FLAGS_duration);
|
|
#endif
|
|
args.skip_used_samples = acq_to_trk_delay_samples;
|
|
|
|
if (pthread_create(&thread_DMA, nullptr, handler_DMA_trk_pull_in_test, reinterpret_cast<void*>(&args)) < 0)
|
|
{
|
|
std::cout << "ERROR cannot create DMA Process\n";
|
|
}
|
|
|
|
// wait for the child DMA process to finish
|
|
pthread_join(thread_DMA, nullptr);
|
|
|
|
// stop the top block
|
|
top_block->stop();
|
|
|
|
tracking->stop_tracking();
|
|
|
|
// reset the HW in order to produce an interrupt to the tracking
|
|
// modules that are in a waiting state
|
|
acquisition->stop_acquisition();
|
|
|
|
std::chrono::duration<double> elapsed_seconds = end - start;
|
|
std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds\n";
|
|
|
|
pull_in_results_v.push_back(msg_rx->rx_message != 3); // save last asynchronous tracking message in order to detect a loss of lock
|
|
|
|
// ********************************
|
|
// ***** STEP 7: Plot results *****
|
|
// ********************************
|
|
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (FLAGS_plot_detail_level >= 2 and FLAGS_show_plots)
|
|
#else
|
|
if (absl::GetFlag(FLAGS_plot_detail_level) >= 2 and absl::GetFlag(FLAGS_show_plots))
|
|
#endif
|
|
{
|
|
// load the measured values
|
|
Tracking_Dump_Reader trk_dump;
|
|
ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
|
|
<< "Failure opening tracking dump file";
|
|
|
|
int64_t n_measured_epochs = trk_dump.num_epochs();
|
|
// todo: use vectors instead
|
|
arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1);
|
|
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1);
|
|
arma::vec trk_Doppler_Hz = arma::zeros(n_measured_epochs, 1);
|
|
arma::vec trk_prn_delay_chips = arma::zeros(n_measured_epochs, 1);
|
|
std::vector<double> timestamp_s;
|
|
std::vector<double> prompt;
|
|
std::vector<double> early;
|
|
std::vector<double> late;
|
|
std::vector<double> v_early;
|
|
std::vector<double> v_late;
|
|
std::vector<double> promptI;
|
|
std::vector<double> promptQ;
|
|
std::vector<double> CN0_dBHz;
|
|
std::vector<double> Doppler;
|
|
int64_t epoch_counter = 0;
|
|
while (trk_dump.read_binary_obs())
|
|
{
|
|
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
|
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / TWO_PI;
|
|
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
|
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
|
|
|
|
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
|
|
|
timestamp_s.push_back(trk_timestamp_s(epoch_counter));
|
|
prompt.push_back(trk_dump.abs_P);
|
|
early.push_back(trk_dump.abs_E);
|
|
late.push_back(trk_dump.abs_L);
|
|
v_early.push_back(trk_dump.abs_VE);
|
|
v_late.push_back(trk_dump.abs_VL);
|
|
promptI.push_back(trk_dump.prompt_I);
|
|
promptQ.push_back(trk_dump.prompt_Q);
|
|
CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz);
|
|
Doppler.push_back(trk_dump.carrier_doppler_hz);
|
|
epoch_counter++;
|
|
}
|
|
#if USE_GLOG_AND_GFLAGS
|
|
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
|
#else
|
|
const std::string gnuplot_executable(absl::GetFlag(FLAGS_gnuplot_executable));
|
|
#endif
|
|
if (gnuplot_executable.empty())
|
|
{
|
|
std::cout << "WARNING: Although the flag show_plots has been set to TRUE,\n";
|
|
std::cout << "gnuplot has not been found in your system.\n";
|
|
std::cout << "Test results will not be plotted.\n";
|
|
}
|
|
else
|
|
{
|
|
try
|
|
{
|
|
fs::path p(gnuplot_executable);
|
|
fs::path dir = p.parent_path();
|
|
const std::string& gnuplot_path = dir.native();
|
|
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
|
#if USE_GLOG_AND_GFLAGS
|
|
auto decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
|
|
|
|
if (FLAGS_plot_detail_level >= 2 and FLAGS_show_plots)
|
|
{
|
|
Gnuplot g1("linespoints");
|
|
g1.showonscreen(); // window output
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
g1.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
else
|
|
{
|
|
g1.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
#else
|
|
auto decimate = static_cast<unsigned int>(absl::GetFlag(FLAGS_plot_decimate));
|
|
|
|
if (absl::GetFlag(FLAGS_plot_detail_level) >= 2 and absl::GetFlag(FLAGS_show_plots))
|
|
{
|
|
Gnuplot g1("linespoints");
|
|
g1.showonscreen(); // window output
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
g1.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, " + "PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
else
|
|
{
|
|
g1.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
#endif
|
|
g1.set_grid();
|
|
g1.set_xlabel("Time [s]");
|
|
g1.set_ylabel("Correlators' output");
|
|
// g1.cmd("set key box opaque");
|
|
g1.plot_xy(trk_timestamp_s, prompt, "Prompt", decimate);
|
|
g1.plot_xy(trk_timestamp_s, early, "Early", decimate);
|
|
g1.plot_xy(trk_timestamp_s, late, "Late", decimate);
|
|
if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking")
|
|
{
|
|
g1.plot_xy(trk_timestamp_s, v_early, "Very Early", decimate);
|
|
g1.plot_xy(trk_timestamp_s, v_late, "Very Late", decimate);
|
|
}
|
|
g1.set_legend();
|
|
g1.savetops("Correlators_outputs");
|
|
|
|
Gnuplot g2("points");
|
|
g2.showonscreen(); // window output
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
else
|
|
{
|
|
g2.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
else
|
|
{
|
|
g2.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
#endif
|
|
g2.set_grid();
|
|
g2.set_xlabel("Inphase");
|
|
g2.set_ylabel("Quadrature");
|
|
// g2.cmd("set size ratio -1");
|
|
g2.plot_xy(promptI, promptQ);
|
|
g2.savetops("Constellation");
|
|
|
|
Gnuplot g3("linespoints");
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
g3.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
else
|
|
{
|
|
g3.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
g3.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
else
|
|
{
|
|
g3.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
#endif
|
|
g3.set_grid();
|
|
g3.set_xlabel("Time [s]");
|
|
g3.set_ylabel("Reported CN0 [dB-Hz]");
|
|
g3.cmd("set key box opaque");
|
|
|
|
g3.plot_xy(trk_timestamp_s, CN0_dBHz,
|
|
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
|
|
|
g3.set_legend();
|
|
g3.savetops("CN0_output");
|
|
|
|
g3.showonscreen(); // window output
|
|
|
|
Gnuplot g4("linespoints");
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
g4.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
else
|
|
{
|
|
g4.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
g4.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
else
|
|
{
|
|
g4.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
#endif
|
|
g4.set_grid();
|
|
g4.set_xlabel("Time [s]");
|
|
g4.set_ylabel("Estimated Doppler [Hz]");
|
|
g4.cmd("set key box opaque");
|
|
|
|
g4.plot_xy(trk_timestamp_s, Doppler,
|
|
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
|
|
|
g4.set_legend();
|
|
g4.savetops("Doppler");
|
|
|
|
g4.showonscreen(); // window output
|
|
}
|
|
}
|
|
catch (const GnuplotException& ge)
|
|
{
|
|
std::cout << ge.what() << '\n';
|
|
}
|
|
}
|
|
} // end plot
|
|
} // end acquisition Delay errors loop
|
|
} // end acquisition Doppler errors loop
|
|
pull_in_results_v_v.push_back(pull_in_results_v);
|
|
} // end CN0 LOOP
|
|
|
|
// build the mesh grid
|
|
std::vector<double> doppler_error_mesh;
|
|
std::vector<double> code_delay_error_mesh;
|
|
for (unsigned int current_acq_doppler_error_idx = 0; current_acq_doppler_error_idx < acq_doppler_error_hz_values.size(); current_acq_doppler_error_idx++)
|
|
{
|
|
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
|
|
{
|
|
doppler_error_mesh.push_back(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx));
|
|
code_delay_error_mesh.push_back(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx));
|
|
}
|
|
}
|
|
|
|
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
|
{
|
|
std::vector<double> pull_in_result_mesh;
|
|
pull_in_result_mesh = pull_in_results_v_v.at(current_cn0_idx);
|
|
// plot grid
|
|
Gnuplot g4("points palette pointsize 2 pointtype 7");
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (FLAGS_show_plots)
|
|
#else
|
|
if (absl::GetFlag(FLAGS_show_plots))
|
|
#endif
|
|
{
|
|
g4.showonscreen(); // window output
|
|
}
|
|
else
|
|
{
|
|
g4.disablescreen();
|
|
}
|
|
g4.cmd(R"(set palette defined ( 0 "black", 1 "green" ))");
|
|
g4.cmd("set key off");
|
|
g4.cmd("set view map");
|
|
std::string title;
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
{
|
|
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz].");
|
|
}
|
|
else
|
|
{
|
|
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
|
}
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
{
|
|
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz].");
|
|
}
|
|
else
|
|
{
|
|
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(absl::GetFlag(FLAGS_PLL_bw_hz_start)) + "," + std::to_string(absl::GetFlag(FLAGS_DLL_bw_hz_start)) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(absl::GetFlag(FLAGS_test_satellite_PRN)) + ")");
|
|
}
|
|
#endif
|
|
g4.set_title(title);
|
|
g4.set_grid();
|
|
g4.set_xlabel("Acquisition Doppler error [Hz]");
|
|
g4.set_ylabel("Acquisition Code Delay error [Chips]");
|
|
g4.cmd("set cbrange[0:1]");
|
|
g4.plot_xyz(doppler_error_mesh,
|
|
code_delay_error_mesh,
|
|
pull_in_result_mesh);
|
|
g4.set_legend();
|
|
#if USE_GLOG_AND_GFLAGS
|
|
if (!FLAGS_enable_external_signal_file)
|
|
#else
|
|
if (!absl::GetFlag(FLAGS_enable_external_signal_file))
|
|
#endif
|
|
{
|
|
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
|
|
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
|
|
}
|
|
else
|
|
{
|
|
g4.savetops("trk_pull_in_grid_external_file");
|
|
g4.savetopdf("trk_pull_in_grid_external_file", 12);
|
|
}
|
|
}
|
|
}
|