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gnss-sdr/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc

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/*!
* \file gps_l5_telemetry_decoder_gs.cc
* \brief Implementation of a CNAV message demodulator block
* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gps_l5_telemetry_decoder_gs.h"
#include "display.h"
#include "gnss_synchro.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h" // for Gps_CNAV_Utc_Model
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h> // for Mat_VarCreate
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <bitset> // for std::bitset
#include <cstddef> // for size_t
#include <cstdlib> // for std::llabs
#include <exception> // for std::exception
#include <iostream> // for std::cout
#include <memory> // for shared_ptr, make_shared
#include <vector>
#if HAS_STD_FILESYSTEM
#include <system_error>
namespace errorlib = std;
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
#include <experimental/filesystem>
namespace fs = std::experimental::filesystem;
#else
#include <filesystem>
namespace fs = std::filesystem;
#endif
#else
#include <boost/filesystem/operations.hpp> // for remove
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
namespace fs = boost::filesystem;
namespace errorlib = boost::system;
#endif
gps_l5_telemetry_decoder_gs_sptr
gps_l5_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf)
{
return gps_l5_telemetry_decoder_gs_sptr(new gps_l5_telemetry_decoder_gs(satellite, conf));
}
gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
const Gnss_Satellite &satellite,
const Tlm_Conf &conf) : gr::block("gps_l5_telemetry_decoder_gs",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
// Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SYMBOLS_PER_BIT * 10; // rise alarm if 20 consecutive subframes have no valid CRC
// initialize internal vars
d_dump_filename = conf.dump_filename;
d_dump = conf.dump;
d_dump_mat = conf.dump_mat;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "GPS L5 TELEMETRY PROCESSING: satellite " << d_satellite;
d_channel = 0;
d_flag_valid_word = false;
d_TOW_at_current_symbol_ms = 0U;
d_TOW_at_Preamble_ms = 0U;
// initialize the CNAV frame decoder (libswiftcnav)
cnav_msg_decoder_init(&d_cnav_decoder);
d_sample_counter = 0;
d_flag_PLL_180_deg_phase_locked = false;
}
gps_l5_telemetry_decoder_gs::~gps_l5_telemetry_decoder_gs()
{
DLOG(INFO) << "GPS L5 Telemetry decoder block (channel " << d_channel << ") destructor called.";
size_t pos = 0;
if (d_dump_file.is_open() == true)
{
pos = d_dump_file.tellp();
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
if (pos == 0)
{
errorlib::error_code ec;
if (!fs::remove(fs::path(d_dump_filename), ec))
{
LOG(WARNING) << "Error deleting temporary file";
}
}
}
if (d_dump && (pos != 0) && d_dump_mat)
{
try
{
save_matfile();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Error saving the .mat file: " << ex.what();
}
}
}
int32_t gps_l5_telemetry_decoder_gs::save_matfile() const
{
std::ifstream::pos_type size;
const int32_t number_of_double_vars = 2;
const int32_t number_of_int_vars = 2;
const int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
sizeof(int32_t) * number_of_int_vars;
std::ifstream dump_file;
std::string dump_filename_ = d_dump_filename;
std::cout << "Generating .mat file for " << dump_filename_ << '\n';
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
{
dump_file.open(dump_filename_.c_str(), std::ios::binary | std::ios::ate);
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem opening dump file:" << e.what() << '\n';
return 1;
}
// count number of epochs and rewind
int64_t num_epoch = 0;
if (dump_file.is_open())
{
size = dump_file.tellg();
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
if (num_epoch == 0LL)
{
// empty file, exit
return 1;
}
dump_file.seekg(0, std::ios::beg);
}
else
{
return 1;
}
auto TOW_at_current_symbol_ms = std::vector<double>(num_epoch);
auto tracking_sample_counter = std::vector<uint64_t>(num_epoch);
auto TOW_at_Preamble_ms = std::vector<double>(num_epoch);
auto nav_symbol = std::vector<int32_t>(num_epoch);
auto prn = std::vector<int32_t>(num_epoch);
try
{
if (dump_file.is_open())
{
for (int64_t i = 0; i < num_epoch; i++)
{
dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&tracking_sample_counter[i]), sizeof(uint64_t));
dump_file.read(reinterpret_cast<char *>(&TOW_at_Preamble_ms[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&nav_symbol[i]), sizeof(int32_t));
dump_file.read(reinterpret_cast<char *>(&prn[i]), sizeof(int32_t));
}
}
dump_file.close();
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << '\n';
return 1;
}
// WRITE MAT FILE
mat_t *matfp;
matvar_t *matvar;
std::string filename = dump_filename_;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), TOW_at_current_symbol_ms.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("tracking_sample_counter", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), tracking_sample_counter.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("TOW_at_Preamble_ms", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), TOW_at_Preamble_ms.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("nav_symbol", MAT_C_INT32, MAT_T_INT32, 2, dims.data(), nav_symbol.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_INT32, MAT_T_INT32, 2, dims.data(), prn.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
return 0;
}
void gps_l5_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
d_CNAV_Message = Gps_CNAV_Navigation_Message();
}
void gps_l5_telemetry_decoder_gs::set_channel(int32_t channel)
{
d_channel = channel;
d_CNAV_Message = Gps_CNAV_Navigation_Message();
DLOG(INFO) << "GPS L5 CNAV channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(std::to_string(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what();
}
}
}
}
void gps_l5_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_TOW_at_current_symbol_ms = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
// get pointers on in- and output gnss-synchro objects
auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]); // Get the output buffer pointer
const auto *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // Get the input buffer pointer
// UPDATE GNSS SYNCHRO DATA
Gnss_Synchro current_synchro_data{}; // structure to save the synchronization information and send the output object to the next block
// 1. Copy the current tracking output
current_synchro_data = in[0];
consume_each(1); // one by one
// check if there is a problem with the telemetry of the current satellite
d_sample_counter++; // count for the processed symbols
if (d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
const int message = 1; // bad telemetry
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}
}
cnav_msg_t msg;
uint32_t delay;
const auto symbol_clip = static_cast<uint8_t>(current_synchro_data.Prompt_Q > 0) * 255;
// 2. Add the telemetry decoder information
// check if new CNAV frame is available
if (cnav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay) == true)
{
if (d_cnav_decoder.part1.invert == true or d_cnav_decoder.part2.invert == true)
{
d_flag_PLL_180_deg_phase_locked = true;
}
else
{
d_flag_PLL_180_deg_phase_locked = false;
}
std::bitset<GPS_L5_CNAV_DATA_PAGE_BITS> raw_bits;
// Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
for (uint32_t i = 0; i < GPS_L5_CNAV_DATA_PAGE_BITS; i++)
{
raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i / 8] >> (7 - i % 8)) & 1U);
}
d_CNAV_Message.decode_page(raw_bits);
// Push the new navigation data to the queues
if (d_CNAV_Message.have_new_ephemeris() == true)
{
// get ephemeris object for this SV
const std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_CNAV_Message.have_new_iono() == true)
{
const std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_CNAV_Message.have_new_utc_model() == true)
{
const std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
// update TOW at the preamble instant
d_TOW_at_Preamble_ms = msg.tow * 6000;
// The time of the last input symbol can be computed from the message ToW and
// delay by the formulae:
// \code
// symbolTime_ms = msg->tow * 6000 + *pdelay * 10 + (12 * 10); 12 symbols of the encoder's transitory
// check TOW update consistency
const uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
d_TOW_at_current_symbol_ms = msg.tow * 6000 + (delay + 12) * GPS_L5I_SYMBOL_PERIOD_MS;
if (last_d_TOW_at_current_symbol_ms != 0 and std::llabs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - static_cast<int64_t>(last_d_TOW_at_current_symbol_ms)) > static_cast<int64_t>(GPS_L5I_SYMBOL_PERIOD_MS))
{
DLOG(INFO) << "Warning: GPS L5 TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - static_cast<int64_t>(last_d_TOW_at_current_symbol_ms) << " ms "
<< " with delay: " << delay << " msg tow: " << msg.tow * 6000 << " ms \n";
d_TOW_at_current_symbol_ms = 0;
d_flag_valid_word = false;
}
else
{
d_last_valid_preamble = d_sample_counter;
d_flag_valid_word = true;
}
}
else
{
if (d_flag_valid_word)
{
d_TOW_at_current_symbol_ms += GPS_L5I_SYMBOL_PERIOD_MS;
if (current_synchro_data.Flag_valid_symbol_output == false)
{
d_flag_valid_word = false;
}
}
}
if (d_flag_valid_word == true)
{
if (d_flag_PLL_180_deg_phase_locked == true)
{
// correct the accumulated phase for the Costas loop phase shift, if required
current_synchro_data.Carrier_phase_rads += GNSS_PI;
}
current_synchro_data.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_synchro_data.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
uint64_t tmp_ulong_int;
int32_t tmp_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_int = (current_synchro_data.Prompt_Q > 0.0 ? 1 : -1);
d_dump_file.write(reinterpret_cast<char *>(&tmp_int), sizeof(int32_t));
tmp_int = static_cast<int32_t>(current_synchro_data.PRN);
d_dump_file.write(reinterpret_cast<char *>(&tmp_int), sizeof(int32_t));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
out[0] = current_synchro_data;
return 1;
}
return 0;
}
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