mirror of https://github.com/gnss-sdr/gnss-sdr
643 lines
24 KiB
C++
643 lines
24 KiB
C++
/*!
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* \file glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
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* \brief Tests a PCPS acquisition block for Glonass L1 C/A signals
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* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
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* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
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*
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "concurrent_queue.h"
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#include "configuration_interface.h"
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#include "freq_xlating_fir_filter.h"
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#include "gen_signal_source.h"
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#include "glonass_l1_ca_pcps_acquisition.h"
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#include "gnss_block_interface.h"
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#include "gnss_sdr_valve.h"
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#include "gnss_synchro.h"
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#include "in_memory_configuration.h"
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#include "pass_through.h"
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#include "signal_generator.h"
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#include "signal_generator_c.h"
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#include <gnuradio/analog/sig_source_waveform.h>
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#include <gnuradio/blocks/file_source.h>
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#include <gnuradio/blocks/null_sink.h>
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#include <gnuradio/top_block.h>
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#include <gtest/gtest.h>
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#include <pmt/pmt.h>
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#include <chrono>
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#include <memory>
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#include <thread>
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#include <utility>
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#ifdef GR_GREATER_38
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#include <gnuradio/analog/sig_source.h>
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#else
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#include <gnuradio/analog/sig_source_c.h>
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#endif
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#if PMT_USES_BOOST_ANY
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namespace wht = boost;
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#else
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namespace wht = std;
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#endif
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// ######## GNURADIO BLOCK MESSAGE RECEVER #########
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class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx;
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using GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr = gnss_shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx>;
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GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(Concurrent_Queue<int>& queue);
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class GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx : public gr::block
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{
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private:
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friend GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(Concurrent_Queue<int>& queue);
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void msg_handler_channel_events(const pmt::pmt_t msg);
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explicit GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(Concurrent_Queue<int>& queue);
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Concurrent_Queue<int>& channel_internal_queue;
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public:
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int rx_message;
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~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(); // Default destructor
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};
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GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(Concurrent_Queue<int>& queue)
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{
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return GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_sptr(new GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(queue));
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
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{
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try
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{
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int64_t message = pmt::to_long(std::move(msg));
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rx_message = message;
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channel_internal_queue.push(rx_message);
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}
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catch (const wht::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_channel_events Bad any_cast: " << e.what();
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rx_message = 0;
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}
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}
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GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx(Concurrent_Queue<int>& queue) : gr::block("GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)), channel_internal_queue(queue)
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_channel_events(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
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#else
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boost::bind(&GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::msg_handler_channel_events, this, _1));
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#endif
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#endif
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rx_message = 0;
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}
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GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx::~GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx() = default;
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// ###########################################################
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class GlonassL1CaPcpsAcquisitionGSoC2017Test : public ::testing::Test
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{
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protected:
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GlonassL1CaPcpsAcquisitionGSoC2017Test()
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{
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item_size = sizeof(gr_complex);
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stop = false;
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message = 0;
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gnss_synchro = Gnss_Synchro();
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acquisition = nullptr;
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init();
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}
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~GlonassL1CaPcpsAcquisitionGSoC2017Test() = default;
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void init();
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void config_1();
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void config_2();
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void start_queue();
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void wait_message();
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void process_message();
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void stop_queue();
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Concurrent_Queue<int> channel_internal_queue;
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std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
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gr::top_block_sptr top_block;
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std::shared_ptr<GlonassL1CaPcpsAcquisition> acquisition;
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std::shared_ptr<InMemoryConfiguration> config;
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Gnss_Synchro gnss_synchro;
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size_t item_size;
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bool stop;
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int message;
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std::thread ch_thread;
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unsigned int integration_time_ms = 0;
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unsigned int fs_in = 0;
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double expected_delay_chips = 0.0;
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double expected_doppler_hz = 0.0;
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float max_doppler_error_hz = 0.0;
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float max_delay_error_chips = 0.0;
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unsigned int num_of_realizations = 0;
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unsigned int realization_counter;
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unsigned int detection_counter;
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unsigned int correct_estimation_counter;
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unsigned int acquired_samples;
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unsigned int mean_acq_time_us;
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double mse_doppler;
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double mse_delay;
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double Pd;
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double Pfa_p;
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double Pfa_a;
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};
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::init()
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{
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message = 0;
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realization_counter = 0;
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detection_counter = 0;
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correct_estimation_counter = 0;
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acquired_samples = 0;
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mse_doppler = 0;
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mse_delay = 0;
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mean_acq_time_us = 0;
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Pd = 0;
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Pfa_p = 0;
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Pfa_a = 0;
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'R';
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std::string signal = "1G";
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signal.copy(gnss_synchro.Signal, 2, 0);
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integration_time_ms = 1;
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fs_in = 31.75e6;
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expected_delay_chips = 255;
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expected_doppler_hz = -1500;
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max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
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max_delay_error_chips = 0.50;
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num_of_realizations = 1;
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config = std::make_shared<InMemoryConfiguration>();
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
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config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.item_type", "gr_complex");
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config->set_property("SignalSource.num_satellites", "1");
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config->set_property("SignalSource.system_0", "R");
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config->set_property("SignalSource.PRN_0", "10");
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config->set_property("SignalSource.CN0_dB_0", "44");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.noise_flag", "false");
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config->set_property("SignalSource.data_flag", "false");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", "11");
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config->set_property("InputFilter.number_of_bands", "2");
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config->set_property("InputFilter.band1_begin", "0.0");
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config->set_property("InputFilter.band1_end", "0.97");
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config->set_property("InputFilter.band2_begin", "0.98");
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config->set_property("InputFilter.band2_end", "1.0");
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config->set_property("InputFilter.ampl1_begin", "1.0");
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config->set_property("InputFilter.ampl1_end", "1.0");
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config->set_property("InputFilter.ampl2_begin", "0.0");
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config->set_property("InputFilter.ampl2_end", "0.0");
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config->set_property("InputFilter.band1_error", "1.0");
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config->set_property("InputFilter.band2_error", "1.0");
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", "16");
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config->set_property("InputFilter.sampling_frequency", std::to_string(fs_in));
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config->set_property("InputFilter.IF", "4000000");
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config->set_property("Acquisition.item_type", "gr_complex");
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config->set_property("Acquisition.coherent_integration_time_ms",
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std::to_string(integration_time_ms));
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config->set_property("Acquisition.max_dwells", "1");
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config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
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// config->set_property("Acquisition.threshold", "2.5");
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config->set_property("Acquisition.pfa", "0.001");
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config->set_property("Acquisition.doppler_max", "10000");
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config->set_property("Acquisition.doppler_step", "250");
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config->set_property("Acquisition.bit_transition_flag", "false");
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config->set_property("Acquisition.dump", "false");
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
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{
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gnss_synchro.Channel_ID = 0;
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gnss_synchro.System = 'R';
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std::string signal = "1G";
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signal.copy(gnss_synchro.Signal, 2, 0);
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integration_time_ms = 1;
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fs_in = 31.75e6;
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expected_delay_chips = 374;
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expected_doppler_hz = -2000;
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max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
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max_delay_error_chips = 0.50;
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num_of_realizations = 100;
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config = std::make_shared<InMemoryConfiguration>();
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config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(fs_in));
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config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
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config->set_property("SignalSource.item_type", "gr_complex");
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config->set_property("SignalSource.num_satellites", "4");
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config->set_property("SignalSource.system_0", "R");
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config->set_property("SignalSource.PRN_0", "10");
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config->set_property("SignalSource.CN0_dB_0", "44");
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config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
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config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
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config->set_property("SignalSource.system_1", "R");
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config->set_property("SignalSource.PRN_1", "15");
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config->set_property("SignalSource.CN0_dB_1", "44");
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config->set_property("SignalSource.doppler_Hz_1", "1000");
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config->set_property("SignalSource.delay_chips_1", "100");
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config->set_property("SignalSource.system_2", "R");
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config->set_property("SignalSource.PRN_2", "21");
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config->set_property("SignalSource.CN0_dB_2", "44");
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config->set_property("SignalSource.doppler_Hz_2", "2000");
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config->set_property("SignalSource.delay_chips_2", "200");
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config->set_property("SignalSource.system_3", "R");
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config->set_property("SignalSource.PRN_3", "22");
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config->set_property("SignalSource.CN0_dB_3", "44");
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config->set_property("SignalSource.doppler_Hz_3", "3000");
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config->set_property("SignalSource.delay_chips_3", "300");
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config->set_property("SignalSource.noise_flag", "true");
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config->set_property("SignalSource.data_flag", "true");
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config->set_property("SignalSource.BW_BB", "0.97");
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config->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
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config->set_property("InputFilter.input_item_type", "gr_complex");
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config->set_property("InputFilter.output_item_type", "gr_complex");
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config->set_property("InputFilter.taps_item_type", "float");
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config->set_property("InputFilter.number_of_taps", "11");
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config->set_property("InputFilter.number_of_bands", "2");
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config->set_property("InputFilter.band1_begin", "0.0");
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config->set_property("InputFilter.band1_end", "0.97");
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config->set_property("InputFilter.band2_begin", "0.98");
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config->set_property("InputFilter.band2_end", "1.0");
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config->set_property("InputFilter.ampl1_begin", "1.0");
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config->set_property("InputFilter.ampl1_end", "1.0");
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config->set_property("InputFilter.ampl2_begin", "0.0");
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config->set_property("InputFilter.ampl2_end", "0.0");
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config->set_property("InputFilter.band1_error", "1.0");
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config->set_property("InputFilter.band2_error", "1.0");
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config->set_property("InputFilter.filter_type", "bandpass");
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config->set_property("InputFilter.grid_density", "16");
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config->set_property("InputFilter.sampling_frequency", std::to_string(fs_in));
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config->set_property("InputFilter.IF", "4000000");
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config->set_property("Acquisition.item_type", "gr_complex");
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config->set_property("Acquisition.coherent_integration_time_ms",
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std::to_string(integration_time_ms));
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config->set_property("Acquisition.max_dwells", "1");
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config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
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config->set_property("Acquisition.pfa", "0.001");
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config->set_property("Acquisition.doppler_max", "10000");
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config->set_property("Acquisition.doppler_step", "250");
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config->set_property("Acquisition.bit_transition_flag", "false");
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config->set_property("Acquisition.dump", "false");
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::start_queue()
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{
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stop = false;
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ch_thread = std::thread(&GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message, this);
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::wait_message()
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{
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struct timeval tv;
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int64_t begin = 0;
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int64_t end = 0;
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while (!stop)
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{
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acquisition->reset();
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gettimeofday(&tv, nullptr);
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begin = tv.tv_sec * 1e6 + tv.tv_usec;
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channel_internal_queue.wait_and_pop(message);
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gettimeofday(&tv, nullptr);
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end = tv.tv_sec * 1e6 + tv.tv_usec;
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mean_acq_time_us += (end - begin);
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process_message();
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}
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::process_message()
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{
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if (message == 1)
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{
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detection_counter++;
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// The term -5 is here to correct the additional delay introduced by the FIR filter
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// The value 511.0 must be a variable, chips/length
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double delay_error_chips = std::abs(static_cast<double>(expected_delay_chips) - (static_cast<double>(gnss_synchro.Acq_delay_samples) - 5.0) * 511.0 / (static_cast<double>(fs_in) * 1e-3));
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double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
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mse_delay += std::pow(delay_error_chips, 2);
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mse_doppler += std::pow(doppler_error_hz, 2);
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if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
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{
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correct_estimation_counter++;
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}
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}
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realization_counter++;
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std::cout << "Progress: " << round(static_cast<float>(realization_counter) / static_cast<float>(num_of_realizations) * 100.0) << "% \r" << std::flush;
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if (realization_counter == num_of_realizations)
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{
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mse_delay /= num_of_realizations;
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mse_doppler /= num_of_realizations;
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Pd = static_cast<double>(correct_estimation_counter) / static_cast<double>(num_of_realizations);
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Pfa_a = static_cast<double>(detection_counter) / static_cast<double>(num_of_realizations);
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Pfa_p = (static_cast<double>(detection_counter) - static_cast<double>(correct_estimation_counter)) / static_cast<double>(num_of_realizations);
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mean_acq_time_us /= num_of_realizations;
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stop_queue();
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top_block->stop();
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}
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}
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void GlonassL1CaPcpsAcquisitionGSoC2017Test::stop_queue()
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{
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stop = true;
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}
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TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, Instantiate)
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{
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config_1();
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acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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}
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TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
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{
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int nsamples = floor(fs_in * integration_time_ms * 1e-3);
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std::chrono::time_point<std::chrono::system_clock> begin, end;
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std::chrono::duration<double> elapsed_seconds(0);
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queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
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top_block = gr::make_top_block("Acquisition test");
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config_1();
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acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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auto msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
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ASSERT_NO_THROW({
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acquisition->connect(top_block);
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auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
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auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get());
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top_block->connect(source, 0, valve, 0);
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top_block->connect(valve, 0, acquisition->get_left_block(), 0);
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top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting the blocks of acquisition test.";
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EXPECT_NO_THROW({
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begin = std::chrono::system_clock::now();
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top_block->run(); // Start threads and wait
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end = std::chrono::system_clock::now();
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elapsed_seconds = end - begin;
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}) << "Failure running the top_block.";
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std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
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}
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TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
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{
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config_1();
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queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
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top_block = gr::make_top_block("Acquisition test");
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acquisition = acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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auto msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
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ASSERT_NO_THROW({
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acquisition->set_channel(1);
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}) << "Failure setting channel.";
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ASSERT_NO_THROW({
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acquisition->set_gnss_synchro(&gnss_synchro);
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}) << "Failure setting gnss_synchro.";
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ASSERT_NO_THROW({
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acquisition->set_doppler_max(10000);
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}) << "Failure setting doppler_max.";
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ASSERT_NO_THROW({
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acquisition->set_doppler_step(500);
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}) << "Failure setting doppler_step.";
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ASSERT_NO_THROW({
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acquisition->connect(top_block);
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top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting acquisition to the top_block.";
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acquisition->init();
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ASSERT_NO_THROW({
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std::shared_ptr<SignalGenerator> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
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std::shared_ptr<FreqXlatingFirFilter> filter = std::make_shared<FreqXlatingFirFilter>(config.get(), "InputFilter", 1, 1);
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signal_generator->connect(top_block);
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top_block->connect(signal_generator->get_right_block(), 0, filter->get_left_block(), 0);
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top_block->connect(filter->get_right_block(), 0, acquisition->get_left_block(), 0);
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}) << "Failure connecting the blocks of acquisition test.";
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// i = 0 --> satellite in acquisition is visible
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// i = 1 --> satellite in acquisition is not visible
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for (unsigned int i = 0; i < 2; i++)
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{
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init();
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if (i == 0)
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{
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gnss_synchro.PRN = 10; // This satellite is visible
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}
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else if (i == 1)
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{
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gnss_synchro.PRN = 20; // This satellite is not visible
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}
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acquisition->set_local_code();
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acquisition->set_state(1); // Ensure that acquisition starts at the first sample
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start_queue();
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EXPECT_NO_THROW({
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top_block->run(); // Start threads and wait
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}) << "Failure running the top_block.";
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if (i == 0)
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{
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EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
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if (message == 1)
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{
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EXPECT_EQ(static_cast<unsigned int>(1), correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
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}
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}
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else if (i == 1)
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{
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EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
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}
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ASSERT_NO_THROW({
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ch_thread.join();
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}) << "Failure while waiting the queue to stop";
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}
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}
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TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
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{
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config_2();
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queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
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top_block = gr::make_top_block("Acquisition test");
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acquisition = std::make_shared<GlonassL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
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auto msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
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ASSERT_NO_THROW({
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acquisition->set_channel(1);
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}) << "Failure setting channel.";
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ASSERT_NO_THROW({
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acquisition->set_gnss_synchro(&gnss_synchro);
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}) << "Failure setting gnss_synchro.";
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ASSERT_NO_THROW({
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acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
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}) << "Failure setting doppler_max.";
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ASSERT_NO_THROW({
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acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
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}) << "Failure setting doppler_step.";
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ASSERT_NO_THROW({
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acquisition->connect(top_block);
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top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
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}) << "Failure connecting acquisition to the top_block.";
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acquisition->init();
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ASSERT_NO_THROW({
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std::shared_ptr<SignalGenerator> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
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std::shared_ptr<FreqXlatingFirFilter> filter = std::make_shared<FreqXlatingFirFilter>(config.get(), "InputFilter", 1, 1);
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signal_generator->connect(top_block);
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top_block->connect(signal_generator->get_right_block(), 0, filter->get_left_block(), 0);
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top_block->connect(filter->get_right_block(), 0, acquisition->get_left_block(), 0);
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}) << "Failure connecting the blocks of acquisition test.";
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std::cout << "Probability of false alarm (target) = " << 0.1 << '\n';
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// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
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// i = 1 --> satellite in acquisition is not visible (prob of false detection)
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for (unsigned int i = 0; i < 2; i++)
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{
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init();
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if (i == 0)
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{
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gnss_synchro.PRN = 10; // This satellite is visible
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}
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else if (i == 1)
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{
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gnss_synchro.PRN = 1; // This satellite is not visible
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}
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acquisition->set_local_code();
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start_queue();
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EXPECT_NO_THROW({
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top_block->run(); // Start threads and wait
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}) << "Failure running the top_block."
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<< '\n';
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if (i == 0)
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{
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std::cout << "Estimated probability of detection = " << Pd << '\n';
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std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << '\n';
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std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds.\n";
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}
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else if (i == 1)
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{
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std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << '\n';
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std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds.\n";
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}
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ASSERT_NO_THROW({
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ch_thread.join();
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}) << "Failure while waiting the queue to stop"
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<< '\n';
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}
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}
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