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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisitio...

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/*!
* \file galileo_e5b_pcps_acquisition_test.cc
* \brief This class implements an acquisition test for
* GalileoE5bPcpsAcquisition class based on some input parameters.
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
* \note Code added as GSoC 2020 Program.
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "concurrent_queue.h"
#include "fir_filter.h"
#include "galileo_e5b_pcps_acquisition.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "in_memory_configuration.h"
#include "pass_through.h"
#include "signal_generator.h"
#include "signal_generator_c.h"
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <pmt/pmt.h>
#include <chrono>
#include <cstdlib>
#include <memory>
#include <utility>
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind.hpp>
#endif
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
#if PMT_USES_BOOST_ANY
namespace wht = boost;
#else
namespace wht = std;
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GalileoE5bPcpsAcquisitionTest_msg_rx;
using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = gnss_shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block
{
private:
friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue);
void msg_handler_channel_events(const pmt::pmt_t msg);
explicit GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue);
Concurrent_Queue<int>& channel_internal_queue;
public:
int rx_message;
~GalileoE5bPcpsAcquisitionTest_msg_rx(); //!< Default destructor
};
GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(Concurrent_Queue<int>& queue)
{
return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx(queue));
}
void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
channel_internal_queue.push(rx_message);
}
catch (const wht::bad_any_cast& e)
{
std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
rx_message = 0;
}
}
GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx(Concurrent_Queue<int>& queue) : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"),
#if HAS_GENERIC_LAMBDA
[this](pmt::pmt_t&& PH1) { msg_handler_channel_events(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
#else
boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_channel_events, this, _1));
#endif
#endif
rx_message = 0;
}
GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx() = default;
// ###########################################################
class GalileoE5bPcpsAcquisitionTest : public ::testing::Test
{
protected:
GalileoE5bPcpsAcquisitionTest()
{
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
stop = false;
message = 0;
}
~GalileoE5bPcpsAcquisitionTest() = default;
void init();
void start_queue();
void wait_message();
void process_message();
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gnss_shared_ptr<GalileoE5bPcpsAcquisition> acquisition;
gr::top_block_sptr top_block;
std::shared_ptr<InMemoryConfiguration> config;
std::thread ch_thread;
Gnss_Synchro gnss_synchro;
size_t item_size;
double fs_in = 32e6;
double expected_doppler_hz = -632.0;
double expected_delay_chips = 1234;
double expected_delay_sec = 51;
double mse_doppler = 0.0;
double mse_delay = 0.0;
double Pd = 0.0;
double Pfa_p = 0.0;
double Pfa_a = 0.0;
float integration_time_ms = 1;
float max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
float max_delay_error_chips = 0.5;
unsigned int num_of_realizations = 1;
unsigned int realization_counter = 0;
unsigned int detection_counter = 0;
unsigned int correct_estimation_counter = 0;
unsigned int acquired_samples = 0;
unsigned int mean_acq_time_us = 0;
bool stop;
int message;
};
void GalileoE5bPcpsAcquisitionTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
std::string signal = "7X";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 1;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
config->set_property("SignalSource.item_type", "gr_complex");
config->set_property("SignalSource.num_satellites", "1");
config->set_property("SignalSource.system_0", "E");
config->set_property("SignalSource.signal_0", "7X");
config->set_property("SignalSource.PRN_0", "11");
config->set_property("SignalSource.CN0_dB_0", "50");
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
config->set_property("SignalSource.delay_sec_0", std::to_string(expected_delay_sec));
config->set_property("SignalSource.noise_flag", "false");
config->set_property("SignalSource.data_flag", "false");
config->set_property("SignalSource.BW_BB", "0.97");
config->set_property("SignalSource.dump", "false");
config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
config->set_property("InputFilter.implementation", "Fir_Filter");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", "11");
config->set_property("InputFilter.number_of_bands", "2");
config->set_property("InputFilter.band1_begin", "0.0");
config->set_property("InputFilter.band1_end", "0.97");
config->set_property("InputFilter.band2_begin", "0.98");
config->set_property("InputFilter.band2_end", "1.0");
config->set_property("InputFilter.ampl1_begin", "1.0");
config->set_property("InputFilter.ampl1_end", "1.0");
config->set_property("InputFilter.ampl2_begin", "0.0");
config->set_property("InputFilter.ampl2_end", "0.0");
config->set_property("InputFilter.band1_error", "1.0");
config->set_property("InputFilter.band2_error", "1.0");
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", "16");
config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition");
config->set_property("Acquisition_7X.item_type", "gr_complex");
config->set_property("Acquisition_7X.coherent_integration_time_ms", std::to_string(integration_time_ms));
config->set_property("Acquisition_7X.dump", "true");
config->set_property("Acquisition_7X.dump_filename", "./acquisition");
config->set_property("Acquisition_7X.threshold", "0.001");
config->set_property("Acquisition_7X.doppler_max", "10000");
config->set_property("Acquisition_7X.doppler_step", "250");
config->set_property("Acquisition_7X.repeat_satellite", "false");
}
void GalileoE5bPcpsAcquisitionTest::start_queue()
{
stop = false;
ch_thread = std::thread(&GalileoE5bPcpsAcquisitionTest::wait_message, this);
}
void GalileoE5bPcpsAcquisitionTest::wait_message()
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
while (!stop)
{
acquisition->reset();
start = std::chrono::system_clock::now();
channel_internal_queue.wait_and_pop(message);
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
mean_acq_time_us += elapsed_seconds.count() * 1e6;
process_message();
}
}
void GalileoE5bPcpsAcquisitionTest::process_message()
{
if (message == 1)
{
double delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - static_cast<double>(gnss_synchro.Acq_delay_samples - 5) * 10230.0 / (static_cast<double>(fs_in) * 1e-3));
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
// The term -5 is here to correct the additional delay introduced by the FIR filter
/*
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
*/
detection_counter++;
mse_delay += std::pow(delay_error_chips, 2);
mse_doppler += std::pow(doppler_error_hz, 2);
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
{
correct_estimation_counter++;
}
}
realization_counter++;
// std::cout << correct_estimation_counter << "correct estimation counter\n";
std::cout << "Progress: " << round(static_cast<float>(realization_counter / num_of_realizations * 100)) << "% \r" << std::flush;
// std::cout << message << "message'\n'";
if (realization_counter == num_of_realizations)
{
mse_delay /= num_of_realizations;
mse_doppler /= num_of_realizations;
Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
Pfa_p = static_cast<double>(detection_counter - correct_estimation_counter) / static_cast<double>(num_of_realizations);
mean_acq_time_us /= num_of_realizations;
stop_queue();
top_block->stop();
}
}
void GalileoE5bPcpsAcquisitionTest::stop_queue()
{
stop = true;
}
TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate)
{
init();
acquisition = gnss_make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
}
TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
{
int nsamples = 21000 * 3;
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
acquisition = gnss_make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
ASSERT_NO_THROW({
acquisition->connect(top_block);
auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get());
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test.";
EXPECT_NO_THROW({
begin = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - begin;
}) << "Failure running the top_block.";
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}
TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
{
top_block = gr::make_top_block("Acquisition test");
init();
acquisition = gnss_make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
std::shared_ptr<FirFilter> input_filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
ASSERT_NO_THROW({
acquisition->set_channel(0);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.0001);
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(5000);
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_doppler_step(100);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block.";
ASSERT_NO_THROW({
std::shared_ptr<GNSSBlockInterface> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
std::shared_ptr<GNSSBlockInterface> filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
std::shared_ptr<GNSSBlockInterface> signal_source = std::make_shared<GenSignalSource>(signal_generator, filter, "SignalSource", queue.get());
filter->connect(top_block);
signal_source->connect(top_block);
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test.";
acquisition->reset();
acquisition->init();
// i = 0 --> satellite in acquisition is visible
// i = 1 --> satellite in acquisition is not visible
for (unsigned int i = 0; i < 1; i++)
{
init();
switch (i)
{
case 0:
{
gnss_synchro.PRN = 11; // present
break;
}
case 1:
{
gnss_synchro.PRN = 19; // not present
break;
}
}
acquisition->set_gnss_synchro(&gnss_synchro);
acquisition->set_local_code();
acquisition->set_state(1);
start_queue();
EXPECT_NO_THROW({
top_block->run(); // Start threads and wait
}) << "Failure running the top_block.";
stop_queue();
ch_thread.join();
if (i == 0)
{
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
if (message == 1)
{
// std::cout << gnss_synchro.Acq_delay_samples << "acq delay'\n'";
// std::cout << gnss_synchro.Acq_doppler_hz << "acq doppler'\n'";
EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
}
else if (i == 1)
{
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
}
}
}
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