mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity
gnss-sdr/src/core/libs/galileo_e6_has_msg_receiver.cc

964 lines
48 KiB
C++
Raw Blame History

/*!
* \file galileo_e6_has_msg_receiver.cc
* \brief GNU Radio block that processes Galileo HAS message pages received from
* Galileo E6B telemetry blocks. After successful decoding, sends the content to
* the PVT block.
* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "galileo_e6_has_msg_receiver.h"
#include "display.h" // for colors in terminal
#include "galileo_has_page.h" // for Galileo_HAS_page
#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
#include "reed_solomon.h" // for ReedSolomon
#include <glog/logging.h> // for DLOG
#include <gnuradio/io_signature.h> // for gr::io_signature::make
#include <algorithm> // for std::find, std::count
#include <cstddef> // for size_t
#include <iterator> // for std::back_inserter
#include <sstream> // for std::stringstream
#include <stdexcept> // for std::out_of_range
#include <typeinfo> // for typeid
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
#if PMT_USES_BOOST_ANY
#include <boost/any.hpp>
namespace wht = boost;
#else
#include <any>
namespace wht = std;
#endif
galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make()
{
return galileo_e6_has_msg_receiver_sptr(new galileo_e6_has_msg_receiver());
}
galileo_e6_has_msg_receiver::galileo_e6_has_msg_receiver() : gr::block("galileo_e6_has_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
// register Gal E6 HAS input message port from telemetry blocks
this->message_port_register_in(pmt::mp("E6_HAS_from_TLM"));
// register nav message monitor out
this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
this->set_msg_handler(pmt::mp("E6_HAS_from_TLM"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_galileo_e6_has(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, boost::placeholders::_1));
#else
boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, _1));
#endif
#endif
// register Gal E6 processed HAS async output message port towards PVT
this->message_port_register_out(pmt::mp("E6_HAS_to_PVT"));
// initialize Reed-Solomon decoder
d_rs = std::make_unique<ReedSolomon>();
// Reserve memory for decoding matrices and received PIDs
d_C_matrix = std::vector<std::vector<std::vector<uint8_t>>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE))); // 32 x 255 x 53
d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)); // HAS message matrix 32 x 53
d_received_pids = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint8_t>());
// Reserve memory to store masks
d_nsat_in_mask_id = std::vector<int>(HAS_MSG_NUMBER_MASK_IDS);
d_gnss_id_in_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_satellite_mask = std::vector<std::vector<uint64_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint64_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_signal_mask = std::vector<std::vector<uint16_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint16_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_cell_mask_availability_flag = std::vector<std::vector<bool>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<bool>(HAS_MSG_NUMBER_GNSS_IDS));
d_cell_mask = std::vector<std::vector<std::vector<std::vector<bool>>>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<std::vector<std::vector<bool>>>(HAS_MSG_NUMBER_GNSS_IDS, std::vector<std::vector<bool>>(HAS_MSG_NUMBER_SATELLITE_IDS, std::vector<bool>(HAS_MSG_NUMBER_SIGNAL_MASKS))));
d_nsys_in_mask = std::vector<uint8_t>(HAS_MSG_NUMBER_MASK_IDS);
d_nav_message_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
// Initialize values for d_nav_msg_packet
d_nav_msg_packet.system = std::string("E");
d_nav_msg_packet.signal = std::string("E6");
d_nav_msg_packet.prn = 0;
d_nav_msg_packet.tow_at_current_symbol_ms = 0;
}
void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
{
d_enable_navdata_monitor = enable;
}
void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& msg)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_galileo_e6_has function called by the scheduler
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == typeid(std::shared_ptr<Galileo_HAS_page>).hash_code())
{
const auto HAS_data_page = wht::any_cast<std::shared_ptr<Galileo_HAS_page>>(pmt::any_ref(msg));
DLOG(INFO) << "New HAS page received: "
<< "Status: " << static_cast<float>(HAS_data_page->has_status) << ", "
<< "MT: " << static_cast<float>(HAS_data_page->message_type) << ", "
<< "MID: " << static_cast<float>(HAS_data_page->message_id) << ", "
<< "MS: " << static_cast<float>(HAS_data_page->message_size) << ", "
<< "PID: " << static_cast<float>(HAS_data_page->message_page_id);
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
process_HAS_page(*HAS_data_page.get());
}
else
{
LOG(WARNING) << "galileo_e6_has_msg_receiver received an unknown object type!";
}
}
catch (const wht::bad_any_cast& e)
{
LOG(WARNING) << "galileo_e6_has_msg_receiver Bad any_cast: " << e.what();
}
// Send the resulting decoded HAS data (if available) to PVT
if (d_new_message == true)
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
this->message_port_pub(pmt::mp("E6_HAS_to_PVT"), pmt::make_any(has_data_ptr));
d_new_message = false;
DLOG(INFO) << "HAS message sent to the PVT block through the E6_HAS_to_PVT async message port";
}
}
void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_page)
{
if (has_page.has_status == 0 || has_page.has_status == 1)
{
std::string page_string(has_page.has_message_string);
if (has_page.message_page_id != 0) // PID=0 is reserved, ignore it
{
if (has_page.message_type == 1) // contains satellite corrections
{
if (has_page.message_id < HAS_MSG_NUMBER_MESSAGE_IDS) // MID range is from 0 to 31
{
if (std::find(d_received_pids[has_page.message_id].begin(), d_received_pids[has_page.message_id].end(), has_page.message_page_id) == d_received_pids[has_page.message_id].end())
{
// New pid! Annotate it.
d_received_pids[has_page.message_id].push_back(has_page.message_page_id);
for (int k = 0; k < GALILEO_CNAV_OCTETS_IN_SUBPAGE; k++)
{
constexpr int bits_in_octet = 8;
std::string bits8 = page_string.substr(k * bits_in_octet, bits_in_octet);
std::bitset<bits_in_octet> bs(bits8);
d_C_matrix[has_page.message_id][has_page.message_page_id - 1][k] = static_cast<uint8_t>(bs.to_ulong());
}
}
}
}
}
}
// If we have received for this message ID a number of pages equal to the message size
d_new_message = false;
if (d_received_pids[has_page.message_id].size() == has_page.message_size)
{
// Try to decode the message
int res = decode_message_type1(has_page.message_id, has_page.message_size);
if (res == 0)
{
// Successful decoding, we have a valid HAS message stored at d_HAS_data
std::cout << TEXT_MAGENTA << "New Galileo HAS message type " << std::to_string(has_page.message_id)
<< " received and successfully decoded" << TEXT_RESET << '\n';
if (d_nsat_in_mask_id[d_HAS_data.header.mask_id] != 0)
{
// if we have the mask for that message, it's ready to be sent to PVT
d_new_message = true;
}
}
}
}
int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_t message_size)
{
DLOG(INFO) << "Start decoding of a HAS message";
constexpr int32_t max_erasure_positions = GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK - GALILEO_CNAV_INFORMATION_VECTOR_LENGTH; // 223 Maximum erasure positions ( = number of parity symbols in a block)
// Compute erasure positions
std::vector<int> erasure_positions;
erasure_positions.reserve(max_erasure_positions);
for (uint8_t i = 1; i < message_size + 1; i++) // we know that from message_size to 32, the value is 0
{
if (std::find(d_received_pids[message_id].begin(), d_received_pids[message_id].end(), i) == d_received_pids[message_id].end())
{
erasure_positions.push_back(i - 1);
}
}
for (int i = GALILEO_CNAV_INFORMATION_VECTOR_LENGTH + 1; i < GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK + 1; i++) // from 33 to 255
{
if (std::find(d_received_pids[message_id].begin(), d_received_pids[message_id].end(), static_cast<uint8_t>(i)) == d_received_pids[message_id].end())
{
erasure_positions.push_back(i - 1);
}
}
if (erasure_positions.size() > static_cast<size_t>(max_erasure_positions))
{
// This should not happen! Maybe message_size < PID < 33 ?
// Don't even try to decode
std::string msg("Reed Solomon decoding of HAS message is not possible. Received PIDs:");
std::stringstream ss;
for (auto pid : d_received_pids[message_id])
{
ss << " " << static_cast<float>(pid);
}
ss << ", Message size: " << static_cast<float>(message_size) << " Message ID: " << static_cast<float>(message_id);
msg += ss.str();
LOG(ERROR) << msg;
d_received_pids[message_id].clear();
d_C_matrix[message_id] = {GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)};
return -1;
}
DLOG(INFO) << debug_print_vector("List of received PIDs", d_received_pids[message_id]);
DLOG(INFO) << debug_print_vector("erasure_positions", erasure_positions);
DLOG(INFO) << debug_print_matrix("C_matrix", d_C_matrix[message_id]);
// Reset HAS decoded message matrix
d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE));
// Vertical decoding of d_C_matrix
for (int col = 0; col < GALILEO_CNAV_OCTETS_IN_SUBPAGE; col++)
{
std::vector<uint8_t> C_column(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK);
for (auto pid : d_received_pids[message_id])
{
C_column[pid - 1] = d_C_matrix[message_id][pid - 1][col];
}
int result = d_rs->decode(C_column, erasure_positions);
if (result < 0)
{
DLOG(ERROR) << "Decoding of HAS page failed";
return -1;
}
std::vector<uint8_t> M_column(C_column.begin(), C_column.begin() + GALILEO_CNAV_INFORMATION_VECTOR_LENGTH);
for (int i = 0; i < GALILEO_CNAV_INFORMATION_VECTOR_LENGTH; i++)
{
d_M_matrix[i][col] = M_column[i];
}
DLOG(INFO) << debug_print_vector("C_column entering the decoder", C_column);
DLOG(INFO) << "Successful HAS page decoding";
}
DLOG(INFO) << debug_print_matrix("M_matrix", d_M_matrix);
// Form the decoded HAS message by reading rows of d_M_matrix
std::string decoded_message_type_1;
decoded_message_type_1.reserve(message_size * GALILEO_CNAV_OCTETS_IN_SUBPAGE * 8);
for (uint8_t row = 0; row < message_size; row++)
{
for (int col = 0; col < GALILEO_CNAV_OCTETS_IN_SUBPAGE; col++)
{
std::bitset<8> bs(d_M_matrix[row][col]);
decoded_message_type_1 += bs.to_string();
}
}
DLOG(INFO) << "Decoded message ID " << static_cast<float>(message_id)
<< " (size: " << static_cast<float>(message_size) << ") with header:\n"
<< std::string(decoded_message_type_1.begin(), decoded_message_type_1.begin() + GALILEO_CNAV_MT1_HEADER_BITS)
<< "\nand body:\n"
<< std::string(decoded_message_type_1.begin() + GALILEO_CNAV_MT1_HEADER_BITS, decoded_message_type_1.end());
if (d_enable_navdata_monitor)
{
d_nav_msg_packet.nav_message = decoded_message_type_1;
const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
}
// reset data for next decoding
d_C_matrix[message_id] = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE));
d_received_pids[message_id].clear();
// Trigger HAS message content reading and fill the d_HAS_data object
d_HAS_data = Galileo_HAS_data();
read_MT1_header(decoded_message_type_1.substr(0, GALILEO_CNAV_MT1_HEADER_BITS));
try
{
read_MT1_body(std::string(decoded_message_type_1.begin() + GALILEO_CNAV_MT1_HEADER_BITS, decoded_message_type_1.end()));
}
catch (const std::out_of_range& oor)
{
std::cerr << "Error when reading decoded HAS data. Wrong data format? The error was: " << oor.what() << '\n';
return -1;
}
catch (const std::bad_alloc& e)
{
std::cerr << "Error when reading decoded HAS data. Wrong data format? The error was: " << e.what() << '\n';
return -1;
}
catch (const std::exception& e)
{
std::cerr << "Error when reading decoded HAS data. Wrong data format? The error was: " << e.what() << '\n';
return -1;
}
catch (...)
{
std::cerr << "Error when reading decoded HAS data. Wrong data format?\n";
return -1;
}
return 0;
}
void galileo_e6_has_msg_receiver::read_MT1_header(const std::string& message_header)
{
// ICD v1.2 Table 6: MT1 Message Header
const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS> has_mt1_header(message_header);
d_HAS_data.header.toh = read_has_message_header_parameter_uint16(has_mt1_header, GALILEO_MT1_HEADER_TOH);
d_HAS_data.header.mask_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_MASK_ID);
d_HAS_data.header.iod_id = read_has_message_header_parameter_uint8(has_mt1_header, GALILEO_MT1_HEADER_IOD_ID);
d_HAS_data.header.mask_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_MASK_FLAG);
d_HAS_data.header.orbit_correction_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_ORBIT_CORRECTION_FLAG);
d_HAS_data.header.clock_fullset_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_CLOCK_FULLSET_FLAG);
d_HAS_data.header.clock_subset_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_CLOCK_SUBSET_FLAG);
d_HAS_data.header.code_bias_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_CODE_BIAS_FLAG);
d_HAS_data.header.phase_bias_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_PHASE_BIAS_FLAG);
d_HAS_data.header.ura_flag = read_has_message_header_parameter_bool(has_mt1_header, GALILEO_MT1_HEADER_URA_FLAG);
DLOG(INFO) << "MT1 header " << message_header << ": "
<< "TOH: " << static_cast<float>(d_HAS_data.header.toh) << ", "
<< "mask ID: " << static_cast<float>(d_HAS_data.header.mask_id) << ", "
<< "iod ID: " << static_cast<float>(d_HAS_data.header.iod_id) << ", "
<< "mask_flag: " << static_cast<float>(d_HAS_data.header.mask_flag) << ", "
<< "orbit_correction_flag: " << static_cast<float>(d_HAS_data.header.orbit_correction_flag) << ", "
<< "clock_fullset_flag: " << static_cast<float>(d_HAS_data.header.clock_fullset_flag) << ", "
<< "clock_subset_flag: " << static_cast<float>(d_HAS_data.header.clock_subset_flag) << ", "
<< "code_bias_flag: " << static_cast<float>(d_HAS_data.header.code_bias_flag) << ", "
<< "phase_bias_flag: " << static_cast<float>(d_HAS_data.header.phase_bias_flag) << ", "
<< "ura_flag: " << static_cast<float>(d_HAS_data.header.ura_flag);
}
void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
{
// ICD v1.2 Table 7: MT1 Message Body.
auto message = std::string(message_body);
int Nsat = 0;
bool have_mask = false;
if (d_HAS_data.header.mask_flag)
{
// read mask
d_HAS_data.Nsys = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYS_LENGTH));
d_nsys_in_mask[d_HAS_data.header.mask_id] = d_HAS_data.Nsys;
if (d_HAS_data.Nsys != 0)
{
message = std::string(message.begin() + HAS_MSG_NSYS_LENGTH, message.end());
d_HAS_data.gnss_id_mask = std::vector<uint8_t>(d_HAS_data.Nsys);
d_HAS_data.cell_mask = std::vector<std::vector<std::vector<bool>>>(d_HAS_data.Nsys, std::vector<std::vector<bool>>(HAS_MSG_NUMBER_SATELLITE_IDS, std::vector<bool>(HAS_MSG_NUMBER_SIGNAL_MASKS)));
d_HAS_data.cell_mask_availability_flag = std::vector<bool>(d_HAS_data.Nsys);
d_HAS_data.nav_message = std::vector<uint8_t>(d_HAS_data.Nsys);
d_HAS_data.satellite_mask = std::vector<uint64_t>(d_HAS_data.Nsys);
d_HAS_data.signal_mask = std::vector<uint16_t>(d_HAS_data.Nsys);
for (uint8_t i = 0; i < d_HAS_data.Nsys; i++)
{
d_HAS_data.gnss_id_mask[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_MASK_LENGTH));
d_gnss_id_in_mask[d_HAS_data.header.mask_id][i] = d_HAS_data.gnss_id_mask[i];
message = std::string(message.begin() + HAS_MSG_ID_MASK_LENGTH, message.end());
std::string msg = message.substr(0, HAS_MSG_SATELLITE_MASK_LENGTH);
d_HAS_data.satellite_mask[i] = read_has_message_body_uint64(msg);
d_satellite_mask[d_HAS_data.header.mask_id][i] = d_HAS_data.satellite_mask[i];
int ones_in_satellite_mask = std::count(msg.begin(), msg.end(), '1');
Nsat += ones_in_satellite_mask;
message = std::string(message.begin() + HAS_MSG_SATELLITE_MASK_LENGTH, message.end());
msg = message.substr(0, HAS_MSG_SIGNAL_MASK_LENGTH);
d_HAS_data.signal_mask[i] = read_has_message_body_uint16(msg);
d_signal_mask[d_HAS_data.header.mask_id][i] = d_HAS_data.signal_mask[i];
int ones_in_signal_mask = std::count(msg.begin(), msg.end(), '1');
message = std::string(message.begin() + HAS_MSG_SIGNAL_MASK_LENGTH, message.end());
d_HAS_data.cell_mask[i] = std::vector<std::vector<bool>>(ones_in_satellite_mask, std::vector<bool>(ones_in_signal_mask, false));
if (message.substr(0, 1) == "1")
{
d_HAS_data.cell_mask_availability_flag[i] = true;
}
else
{
d_HAS_data.cell_mask_availability_flag[i] = false;
}
d_cell_mask_availability_flag[d_HAS_data.header.mask_id][i] = d_HAS_data.cell_mask_availability_flag[i];
message = std::string(message.begin() + 1, message.end());
if (d_HAS_data.cell_mask_availability_flag[i] == true)
{
int size_cell = ones_in_satellite_mask * ones_in_signal_mask;
int pos = 0;
for (int s = 0; s < ones_in_satellite_mask; s++)
{
for (int sig = 0; sig < ones_in_signal_mask; sig++)
{
d_HAS_data.cell_mask[i][s][sig] = (message[pos] == '1' ? true : false);
pos++;
}
}
message = std::string(message.begin() + size_cell, message.end());
}
d_HAS_data.nav_message[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_NAV_MESSAGE_LENGTH));
d_nav_message_mask[d_HAS_data.header.mask_id][i] = d_HAS_data.nav_message[i];
message = std::string(message.begin() + HAS_MSG_NAV_MESSAGE_LENGTH, message.end());
}
d_nsat_in_mask_id[d_HAS_data.header.mask_id] = Nsat;
d_cell_mask[d_HAS_data.header.mask_id] = d_HAS_data.cell_mask;
message = std::string(message.begin() + HAS_MSG_MASK_RESERVED_LENGTH, message.end());
}
if (Nsat != 0)
{
have_mask = true;
}
DLOG(INFO) << "Nsys: " << static_cast<float>(d_HAS_data.Nsys);
DLOG(INFO) << debug_print_vector("GNSS ID", d_HAS_data.gnss_id_mask);
DLOG(INFO) << debug_print_vector("cell_mask_availability_flag", d_HAS_data.cell_mask_availability_flag);
DLOG(INFO) << debug_print_vector("nav_message", d_HAS_data.nav_message);
}
else
{
// Take data from a previously received mask with the same mask_id
Nsat = d_nsat_in_mask_id[d_HAS_data.header.mask_id];
if (Nsat != 0)
{
d_HAS_data.Nsys = d_nsys_in_mask[d_HAS_data.header.mask_id];
std::copy(d_gnss_id_in_mask[d_HAS_data.header.mask_id].begin(), d_gnss_id_in_mask[d_HAS_data.header.mask_id].begin() + d_HAS_data.Nsys, std::back_inserter(d_HAS_data.gnss_id_mask));
std::copy(d_satellite_mask[d_HAS_data.header.mask_id].begin(), d_satellite_mask[d_HAS_data.header.mask_id].begin() + d_HAS_data.Nsys, std::back_inserter(d_HAS_data.satellite_mask));
std::copy(d_signal_mask[d_HAS_data.header.mask_id].begin(), d_signal_mask[d_HAS_data.header.mask_id].begin() + d_HAS_data.Nsys, std::back_inserter(d_HAS_data.signal_mask));
std::copy(d_cell_mask_availability_flag[d_HAS_data.header.mask_id].begin(), d_cell_mask_availability_flag[d_HAS_data.header.mask_id].begin() + d_HAS_data.Nsys, std::back_inserter(d_HAS_data.cell_mask_availability_flag));
d_HAS_data.cell_mask = d_cell_mask[d_HAS_data.header.mask_id];
std::copy(d_nav_message_mask[d_HAS_data.header.mask_id].begin(), d_nav_message_mask[d_HAS_data.header.mask_id].begin() + d_HAS_data.Nsys, std::back_inserter(d_HAS_data.nav_message));
have_mask = true;
DLOG(INFO) << "Nsys: " << static_cast<float>(d_HAS_data.Nsys);
DLOG(INFO) << debug_print_vector("GNSS ID", d_HAS_data.gnss_id_mask);
DLOG(INFO) << debug_print_vector("cell_mask_availability_flag", d_HAS_data.cell_mask_availability_flag);
DLOG(INFO) << debug_print_vector("nav_message", d_HAS_data.nav_message);
}
}
// discard data if crazy Values
if (d_HAS_data.header.toh > HAS_MSG_NUMBER_MAX_TOH)
{
have_mask = false;
d_nsat_in_mask_id[d_HAS_data.header.mask_id] = 0;
}
if (d_HAS_data.header.orbit_correction_flag && have_mask)
{
// read orbit corrections
d_HAS_data.validity_interval_index_orbit_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.gnss_iod = std::vector<uint16_t>(Nsat);
d_HAS_data.delta_radial = std::vector<int16_t>(Nsat);
d_HAS_data.delta_along_track = std::vector<int16_t>(Nsat);
d_HAS_data.delta_cross_track = std::vector<int16_t>(Nsat);
for (int i = 0; i < Nsat; i++)
{
if (d_HAS_data.get_gnss_id(i) == HAS_MSG_GPS_SYSTEM)
{
d_HAS_data.gnss_iod[i] = read_has_message_body_uint16(message.substr(0, HAS_MSG_IOD_GPS_LENGTH));
message = std::string(message.begin() + HAS_MSG_IOD_GPS_LENGTH, message.end());
}
else if (d_HAS_data.get_gnss_id(i) == HAS_MSG_GALILEO_SYSTEM)
{
d_HAS_data.gnss_iod[i] = read_has_message_body_uint16(message.substr(0, HAS_MSG_IOD_GAL_LENGTH));
message = std::string(message.begin() + HAS_MSG_IOD_GAL_LENGTH, message.end());
}
else if (d_HAS_data.get_gnss_id(i) == HAS_MSG_WRONG_SYSTEM)
{
// wrong data format, aborting
have_mask = false;
}
else
{
// reserved system, not defined what to do, aborting
LOG(WARNING) << "Is the HAS message transmitting data belonging to a new system? System identifier was: " << std::to_string(d_HAS_data.get_gnss_id(i));
have_mask = false;
}
if (have_mask)
{
d_HAS_data.delta_radial[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_RADIAL_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_RADIAL_LENGTH, message.end());
d_HAS_data.delta_along_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_ALONG_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_ALONG_TRACK_LENGTH, message.end());
d_HAS_data.delta_cross_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CROSS_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CROSS_TRACK_LENGTH, message.end());
}
}
DLOG(INFO) << debug_print_vector("gnss_iod", d_HAS_data.gnss_iod);
DLOG(INFO) << debug_print_vector("delta_radial", d_HAS_data.delta_radial);
DLOG(INFO) << debug_print_vector("delta_along_track", d_HAS_data.delta_along_track);
DLOG(INFO) << debug_print_vector("delta_cross_track", d_HAS_data.delta_cross_track);
}
if (d_HAS_data.header.clock_fullset_flag && have_mask)
{
// read clock full-set corrections
d_HAS_data.validity_interval_index_clock_fullset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.delta_clock_c0_multiplier = std::vector<uint8_t>(d_HAS_data.Nsys);
for (uint8_t i = 0; i < d_HAS_data.Nsys; i++)
{
d_HAS_data.delta_clock_c0_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH)) + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH, message.end());
}
d_HAS_data.iod_change_flag = std::vector<bool>(Nsat);
d_HAS_data.delta_clock_c0 = std::vector<int16_t>(Nsat);
for (int i = 0; i < Nsat; i++)
{
d_HAS_data.iod_change_flag[i] = (message[0] == '1' ? true : false);
message = std::string(message.begin() + 1, message.end());
d_HAS_data.delta_clock_c0[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_LENGTH, message.end());
}
DLOG(INFO) << debug_print_vector("delta_clock_c0_multiplier", d_HAS_data.delta_clock_c0_multiplier);
DLOG(INFO) << debug_print_vector("delta_clock_c0", d_HAS_data.delta_clock_c0);
}
if (d_HAS_data.header.clock_subset_flag && have_mask)
{
// read clock subset corrections
d_HAS_data.validity_interval_index_clock_subset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.Nsysprime = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYSPRIME_LENGTH));
message = std::string(message.begin() + HAS_MSG_NSYSPRIME_LENGTH, message.end());
if (d_HAS_data.Nsysprime == 0)
{
// wrong data format, aborting
have_mask = false;
d_nsat_in_mask_id[d_HAS_data.header.mask_id] = 0;
}
d_HAS_data.gnss_id_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsysprime);
d_HAS_data.delta_clock_c0_multiplier_clock_subset = std::vector<uint8_t>(d_HAS_data.Nsysprime);
d_HAS_data.satellite_submask = std::vector<uint64_t>(d_HAS_data.Nsysprime);
d_HAS_data.iod_change_flag_clock_subset = std::vector<std::vector<bool>>(d_HAS_data.Nsysprime, std::vector<bool>());
d_HAS_data.delta_clock_c0_clock_subset = std::vector<std::vector<int16_t>>(d_HAS_data.Nsysprime, std::vector<int16_t>());
for (uint8_t i = 0; i < d_HAS_data.Nsysprime; i++)
{
d_HAS_data.gnss_id_clock_subset[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_CLOCK_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_ID_CLOCK_SUBSET_LENGTH, message.end());
uint8_t clock_multiplier = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH));
d_HAS_data.delta_clock_c0_multiplier_clock_subset[i] = clock_multiplier + 1; // b00 means x1, b01 means x2, etc
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_MULTIPLIER_SUBSET_LENGTH, message.end());
// find the satellite mask corresponding to this GNSS ID
auto it = std::find(d_HAS_data.gnss_id_mask.begin(), d_HAS_data.gnss_id_mask.end(), d_HAS_data.gnss_id_clock_subset[i]);
int index = it - d_HAS_data.gnss_id_mask.begin();
uint64_t satellite_mask = d_HAS_data.satellite_mask[index];
// count satellites in the mask
std::bitset<HAS_MSG_SATELLITE_MASK_LENGTH> satellite_mask_bits(satellite_mask);
std::string satellite_mask_string = satellite_mask_bits.to_string();
int number_sats_this_gnss_id = std::count(satellite_mask_string.begin(), satellite_mask_string.end(), '1');
d_HAS_data.satellite_submask[i] = read_has_message_body_uint64(message.substr(0, number_sats_this_gnss_id));
message = std::string(message.begin() + number_sats_this_gnss_id, message.end());
// Count ones in satellite submask
std::string binary("");
uint64_t aux = 1;
uint64_t mask_value = d_HAS_data.satellite_submask[i];
for (int k = 0; k < number_sats_this_gnss_id - 1; k++)
{
if ((aux & mask_value) >= 1)
{
binary.insert(0, "1");
}
else
{
binary.insert(0, "0");
}
aux <<= 1;
}
int Nsatprime = std::count(binary.begin(), binary.end(), '1');
d_HAS_data.delta_clock_c0_clock_subset[i].reserve(Nsatprime);
// Read Nsatprime values of delta_clock_c0_clock_subset
for (int j = 0; j < Nsatprime; j++)
{
d_HAS_data.delta_clock_c0_clock_subset[i][j] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_SUBSET_LENGTH, message.end());
}
}
DLOG(INFO) << "Nsysprime: " << static_cast<float>(d_HAS_data.Nsysprime);
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("gnss_id_clock_subset", d_HAS_data.gnss_id_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("delta_clock_c0_multiplier_clock_subset", d_HAS_data.delta_clock_c0_multiplier_clock_subset));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_vector("satellite_submask", d_HAS_data.satellite_submask));
DLOG(INFO) << (d_HAS_data.Nsysprime == 0 ? "" : debug_print_matrix("delta_clock_c0_clock_subset", d_HAS_data.delta_clock_c0_clock_subset));
}
if (d_HAS_data.header.code_bias_flag && have_mask)
{
// read code bias
d_HAS_data.validity_interval_index_code_bias_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
std::vector<uint64_t> number_sats(d_HAS_data.Nsys);
std::vector<uint64_t> number_codes(d_HAS_data.Nsys);
uint64_t max_signals = 0ULL;
for (int sys = 0; sys < d_HAS_data.Nsys; sys++)
{
uint64_t number_sats_this_gnss_id = 0;
uint64_t number_signals_this_gnss_id = 0;
if (d_HAS_data.cell_mask_availability_flag[sys] == true)
{
// cell mask is provided
number_sats_this_gnss_id = d_HAS_data.cell_mask[sys].size();
number_signals_this_gnss_id = d_HAS_data.cell_mask[sys][0].size();
if (number_signals_this_gnss_id > max_signals)
{
max_signals = number_signals_this_gnss_id;
}
}
else
{
// corrections for all satellites in satellite_mask
// and all signals in signal mask
uint64_t n = d_HAS_data.satellite_mask[sys];
while (n)
{
number_sats_this_gnss_id += n & 1;
n >>= 1;
}
uint64_t m = d_HAS_data.signal_mask[sys];
while (m)
{
number_signals_this_gnss_id += m & 1;
m >>= 1;
}
if (number_signals_this_gnss_id > max_signals)
{
max_signals = number_signals_this_gnss_id;
}
}
number_sats[sys] = number_sats_this_gnss_id;
number_codes[sys] = number_signals_this_gnss_id;
}
d_HAS_data.code_bias = std::vector<std::vector<int16_t>>(Nsat, std::vector<int16_t>(max_signals));
int sat = 0;
for (int sys = 0; sys < d_HAS_data.Nsys; sys++)
{
for (uint64_t s = 0; s < number_sats[sys]; s++)
{
for (uint64_t c = 0; c < number_codes[sys]; c++)
{
if ((d_HAS_data.cell_mask_availability_flag[sys] == false) || ((d_HAS_data.cell_mask_availability_flag[sys] == true) && (d_HAS_data.cell_mask[sys][s][c])))
{
d_HAS_data.code_bias[sat][c] = read_has_message_body_int16(message.substr(0, HAS_MSG_CODE_BIAS_LENGTH));
message = std::string(message.begin() + HAS_MSG_CODE_BIAS_LENGTH, message.end());
}
}
sat += 1;
}
}
DLOG(INFO) << debug_print_matrix("code bias", d_HAS_data.code_bias);
}
if (d_HAS_data.header.phase_bias_flag && have_mask)
{
// read phase bias
d_HAS_data.validity_interval_index_phase_bias_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
std::vector<uint64_t> number_sats(d_HAS_data.Nsys);
std::vector<uint64_t> number_phases(d_HAS_data.Nsys);
uint64_t max_signals = 0ULL;
for (int sys = 0; sys < d_HAS_data.Nsys; sys++)
{
uint64_t number_sats_this_gnss_id = 0;
uint64_t number_signals_this_gnss_id = 0;
if (d_HAS_data.cell_mask_availability_flag[sys] == true)
{
// cell mask is provided
number_sats_this_gnss_id = d_HAS_data.cell_mask[sys].size();
number_signals_this_gnss_id = d_HAS_data.cell_mask[sys][0].size();
if (number_signals_this_gnss_id > max_signals)
{
max_signals = number_signals_this_gnss_id;
}
}
else
{
// corrections for all satellites in satellite_mask
// and all signals in signal mask
uint64_t n = d_HAS_data.satellite_mask[sys];
while (n)
{
number_sats_this_gnss_id += n & 1;
n >>= 1;
}
uint64_t m = d_HAS_data.signal_mask[sys];
while (m)
{
number_signals_this_gnss_id += m & 1;
m >>= 1;
}
if (number_signals_this_gnss_id > max_signals)
{
max_signals = number_signals_this_gnss_id;
}
}
number_sats[sys] = number_sats_this_gnss_id;
number_phases[sys] = number_signals_this_gnss_id;
}
d_HAS_data.phase_bias = std::vector<std::vector<int16_t>>(Nsat, std::vector<int16_t>(max_signals));
d_HAS_data.phase_discontinuity_indicator = std::vector<std::vector<uint8_t>>(Nsat, std::vector<uint8_t>(max_signals));
int sat = 0;
for (int sys = 0; sys < d_HAS_data.Nsys; sys++)
{
for (uint64_t s = 0; s < number_sats[sys]; s++)
{
for (uint64_t p = 0; p < number_phases[sys]; p++)
{
if ((d_HAS_data.cell_mask_availability_flag[sys] == false) || ((d_HAS_data.cell_mask_availability_flag[sys] == true) && (d_HAS_data.cell_mask[sys][s][p])))
{
d_HAS_data.phase_bias[sat][p] = read_has_message_body_int16(message.substr(0, HAS_MSG_PHASE_BIAS_LENGTH));
message = std::string(message.begin() + HAS_MSG_PHASE_BIAS_LENGTH, message.end());
d_HAS_data.phase_discontinuity_indicator[sat][p] = read_has_message_body_uint8(message.substr(0, HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH));
message = std::string(message.begin() + HAS_MSG_PHASE_DISCONTINUITY_INDICATOR_LENGTH, message.end());
}
}
sat += 1;
}
}
DLOG(INFO) << debug_print_matrix("phase bias", d_HAS_data.phase_bias);
DLOG(INFO) << debug_print_matrix("phase discontinuity indicator", d_HAS_data.phase_discontinuity_indicator);
}
// if (d_HAS_data.header.ura_flag && have_mask)
// {
// // read URA
// d_HAS_data.validity_interval_index_ura_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
// message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
// d_HAS_data.ura = std::vector<uint8_t>(Nsat);
// for (int i = 0; i < Nsat; i++)
// {
// d_HAS_data.ura[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_URA_LENGTH));
// message = std::string(message.begin() + HAS_MSG_URA_LENGTH, message.end());
// }
// }
}
uint16_t galileo_e6_has_msg_receiver::read_has_message_header_parameter_uint16(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const
{
uint16_t value = 0U;
for (int j = 0; j < parameter.second; j++)
{
value <<= 1U; // shift left
if (static_cast<int>(bits[GALILEO_CNAV_MT1_HEADER_BITS - parameter.first - j]) == 1)
{
value += 1; // insert the bit
}
}
return value;
}
uint8_t galileo_e6_has_msg_receiver::read_has_message_header_parameter_uint8(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const
{
uint8_t value = 0U;
for (int j = 0; j < parameter.second; j++)
{
value <<= 1U; // shift left
if (static_cast<int>(bits[GALILEO_CNAV_MT1_HEADER_BITS - parameter.first - j]) == 1)
{
value += 1; // insert the bit
}
}
return value;
}
bool galileo_e6_has_msg_receiver::read_has_message_header_parameter_bool(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const
{
bool value = false;
if (static_cast<int>(bits[GALILEO_CNAV_MT1_HEADER_BITS - parameter.first]) == 1)
{
value = true;
}
return value;
}
uint64_t galileo_e6_has_msg_receiver::read_has_message_body_uint64(const std::string& bits) const
{
uint64_t value = 0U;
const size_t len = bits.length();
for (size_t j = 0; j < len; j++)
{
value <<= 1U; // shift left
if (bits[j] == '1')
{
value += 1; // insert the bit
}
}
return value;
}
uint16_t galileo_e6_has_msg_receiver::read_has_message_body_uint16(const std::string& bits) const
{
uint16_t value = 0U;
const size_t len = bits.length();
for (size_t j = 0; j < len; j++)
{
value <<= 1U; // shift left
if (bits[j] == '1')
{
value += 1; // insert the bit
}
}
return value;
}
int16_t galileo_e6_has_msg_receiver::read_has_message_body_int16(const std::string& bits) const
{
int16_t value = 0;
const size_t len = bits.length();
// read the MSB and perform the sign extension
if (bits[0] == '1')
{
value ^= 0xFFFF; // 16 bits variable
}
else
{
value &= 0;
}
for (size_t j = 0; j < len; j++)
{
value *= 2; // shift left the signed integer
value &= 0xFFFE; // reset the corresponding bit (for the 16 bits variable)
if (bits[j] == '1')
{
value += 1; // insert the bit
}
}
return value;
}
uint8_t galileo_e6_has_msg_receiver::read_has_message_body_uint8(const std::string& bits) const
{
uint8_t value = 0U;
const size_t len = bits.length();
for (size_t j = 0; j < len; j++)
{
value <<= 1U; // shift left
if (bits[j] == '1')
{
value += 1; // insert the bit
}
}
return value;
}
template <class T>
std::string galileo_e6_has_msg_receiver::debug_print_vector(const std::string& title, const std::vector<T>& vec) const
{
std::string msg(title);
msg += ": \n";
std::stringstream ss;
for (auto el : vec)
{
ss << static_cast<float>(el) << " ";
}
msg += ss.str();
return msg;
}
template <class T>
std::string galileo_e6_has_msg_receiver::debug_print_matrix(const std::string& title, const std::vector<std::vector<T>>& mat) const
{
std::string msg(title);
msg += ": \n";
std::stringstream ss;
if (!mat.empty())
{
for (size_t row = 0; row < mat.size(); row++)
{
for (size_t col = 0; col < mat[0].size(); col++)
{
ss << static_cast<float>(mat[row][col]) << " ";
}
ss << '\n';
}
}
else
{
ss << '\n';
}
msg += ss.str();
return msg;
}
Reference in New Issue View Git Blame Copy Permalink