mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity
gnss-sdr/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_a...

374 lines
14 KiB
C++
Raw Blame History

/*!
* \file galileo_e1_pcps_ambiguous_acquisition_test.cc
* \brief This class implements an acquisition test for
* GalileoE1PcpsAmbiguousAcquisition class based on some input parameters.
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "Galileo_E1.h"
#include "acquisition_dump_reader.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_signal.h"
#include "gnss_synchro.h"
#include "gnuplot_i.h"
#include "in_memory_configuration.h"
#include "test_flags.h"
#include <boost/make_shared.hpp>
#include <glog/logging.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
#include <utility>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
#if HAS_STD_FILESYSTEM
#include <filesystem>
namespace fs = std::filesystem;
#else
#include <boost/filesystem.hpp>
namespace fs = boost::filesystem;
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx;
using GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx>;
GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make();
class GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx : public gr::block
{
private:
friend GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx();
public:
int rx_message;
~GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx(); //!< Default destructor
};
GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make()
{
return GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr(new GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx());
}
void GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
rx_message = 0;
}
}
GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx() : gr::block("GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::~GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx() = default;
// ###########################################################
class GalileoE1PcpsAmbiguousAcquisitionTest : public ::testing::Test
{
protected:
GalileoE1PcpsAmbiguousAcquisitionTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
doppler_max = 10000;
doppler_step = 250;
}
~GalileoE1PcpsAmbiguousAcquisitionTest() = default;
void init();
void plot_grid();
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
unsigned int doppler_max;
unsigned int doppler_step;
};
void GalileoE1PcpsAmbiguousAcquisitionTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
std::string signal = "1B";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 1;
config->set_property("Acquisition_1B.implementation", "Galileo_E1_PCPS_Ambiguous_Acquisition");
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
config->set_property("Acquisition_1B.item_type", "gr_complex");
config->set_property("Acquisition_1B.coherent_integration_time_ms", "4");
if (FLAGS_plot_acq_grid == true)
{
config->set_property("Acquisition_1B.dump", "true");
}
else
{
config->set_property("Acquisition_1B.dump", "false");
}
config->set_property("Acquisition_1B.dump_filename", "./tmp-acq-gal1/acquisition");
config->set_property("Acquisition_1B.threshold", "0.0001");
config->set_property("Acquisition_1B.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1B.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_1B.repeat_satellite", "false");
config->set_property("Acquisition_1B.cboc", "true");
}
void GalileoE1PcpsAmbiguousAcquisitionTest::plot_grid()
{
//load the measured values
std::string basename = "./tmp-acq-gal1/acquisition_E_1B";
auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
auto samples_per_code = static_cast<unsigned int>(round(4000000 / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS))); // !!
Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code);
if (!acq_dump.read_binary_acq())
{
std::cout << "Error reading files" << std::endl;
}
std::vector<int>* doppler = &acq_dump.doppler;
std::vector<unsigned int>* samples = &acq_dump.samples;
std::vector<std::vector<float> >* mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_acq_grid has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
std::cout << "Plotting the acquisition grid. This can take a while..." << std::endl;
try
{
fs::path p(gnuplot_executable);
fs::path dir = p.parent_path();
const std::string& gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("lines");
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("Galileo E1b/c signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
g1.set_xlabel("Doppler [Hz]");
g1.set_ylabel("Sample");
//g1.cmd("set view 60, 105, 1, 1");
g1.plot_grid3d(*doppler, *samples, *mag);
g1.savetops("Galileo_E1_acq_grid");
g1.savetopdf("Galileo_E1_acq_grid");
}
catch (const GnuplotException& ge)
{
std::cout << ge.what() << std::endl;
}
}
std::string data_str = "./tmp-acq-gal1";
if (fs::exists(data_str))
{
fs::remove_all(data_str);
}
}
TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, Instantiate)
{
init();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
}
TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ConnectAndRun)
{
int fs_in = 4000000;
int nsamples = 4 * fs_in;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
init();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx> msg_rx = GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make();
ASSERT_NO_THROW({
acquisition->connect(top_block);
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
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({
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}
TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
if (FLAGS_plot_acq_grid == true)
{
std::string data_str = "./tmp-acq-gal1";
if (fs::exists(data_str))
{
fs::remove_all(data_str);
}
fs::create_directory(data_str);
}
double expected_delay_samples = 2920; //18250;
double expected_doppler_hz = -632;
init();
top_block = gr::make_top_block("Acquisition test");
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisition> acquisition = std::dynamic_pointer_cast<GalileoE1PcpsAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx> msg_rx = GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make();
ASSERT_NO_THROW({
acquisition->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition_1B.threshold", 1e-9));
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(config->property("Acquisition_1B.doppler_max", doppler_max));
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_doppler_step(config->property("Acquisition_1B.doppler_step", doppler_step));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block.";
ASSERT_NO_THROW({
std::string path = std::string(TEST_PATH);
std::string file = path + "signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat";
const char* file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
top_block->connect(file_source, 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->set_local_code();
acquisition->init();
acquisition->reset();
acquisition->set_state(1);
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
std::cout << "Delay: " << gnss_synchro.Acq_delay_samples << std::endl;
std::cout << "Doppler: " << gnss_synchro.Acq_doppler_hz << std::endl;
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
auto delay_error_chips = static_cast<float>(delay_error_samples * 1023 / 4000000);
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
EXPECT_LE(doppler_error_hz, 166) << "Doppler error exceeds the expected value: 166 Hz = 2/(3*integration period)";
EXPECT_LT(delay_error_chips, 0.175) << "Delay error exceeds the expected value: 0.175 chips";
if (FLAGS_plot_acq_grid == true)
{
plot_grid();
}
}
Reference in New Issue View Git Blame Copy Permalink