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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_t...

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/*!
* \file gps_l2_m_pcps_acquisition_test.cc
* \brief This class implements an acquisition test for
* GpsL1CaPcpsAcquisition class based on some input parameters.
* \author Javier Arribas, 2015 (jarribas@cttc.es)
*
*
* -------------------------------------------------------------------------
*
* 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 "GPS_L2C.h"
#include "acquisition_dump_reader.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gnuplot_i.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "test_flags.h"
#include <boost/make_shared.hpp>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/char_to_short.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_short_to_complex.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 GpsL2MPcpsAcquisitionTest_msg_rx;
using GpsL2MPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GpsL2MPcpsAcquisitionTest_msg_rx>;
GpsL2MPcpsAcquisitionTest_msg_rx_sptr GpsL2MPcpsAcquisitionTest_msg_rx_make();
class GpsL2MPcpsAcquisitionTest_msg_rx : public gr::block
{
private:
friend GpsL2MPcpsAcquisitionTest_msg_rx_sptr GpsL2MPcpsAcquisitionTest_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
GpsL2MPcpsAcquisitionTest_msg_rx();
public:
int rx_message;
~GpsL2MPcpsAcquisitionTest_msg_rx(); //!< Default destructor
};
GpsL2MPcpsAcquisitionTest_msg_rx_sptr GpsL2MPcpsAcquisitionTest_msg_rx_make()
{
return GpsL2MPcpsAcquisitionTest_msg_rx_sptr(new GpsL2MPcpsAcquisitionTest_msg_rx());
}
void GpsL2MPcpsAcquisitionTest_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;
}
}
GpsL2MPcpsAcquisitionTest_msg_rx::GpsL2MPcpsAcquisitionTest_msg_rx() : gr::block("GpsL2MPcpsAcquisitionTest_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(&GpsL2MPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
GpsL2MPcpsAcquisitionTest_msg_rx::~GpsL2MPcpsAcquisitionTest_msg_rx() = default;
// ###########################################################
class GpsL2MPcpsAcquisitionTest : public ::testing::Test
{
protected:
GpsL2MPcpsAcquisitionTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
sampling_frequency_hz = 5000000;
nsamples = 0;
doppler_max = 3000;
doppler_step = 125;
gnss_synchro = Gnss_Synchro();
}
~GpsL2MPcpsAcquisitionTest() = default;
void init();
void plot_grid();
gr::msg_queue::sptr queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
int sampling_frequency_hz;
int nsamples;
unsigned int doppler_max;
unsigned int doppler_step;
};
void GpsL2MPcpsAcquisitionTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "2S";
std::memcpy(static_cast<void *>(gnss_synchro.Signal), signal.c_str(), 3); // copy string into synchro char array: 2 char + null
gnss_synchro.Signal[2] = 0; // make sure that string length is only two characters
gnss_synchro.PRN = 7;
nsamples = round(static_cast<double>(sampling_frequency_hz) * GPS_L2_M_PERIOD) * 2;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_frequency_hz));
config->set_property("Acquisition_2S.implementation", "GPS_L2_M_PCPS_Acquisition");
config->set_property("Acquisition_2S.item_type", "gr_complex");
if (FLAGS_plot_acq_grid == true)
{
config->set_property("Acquisition_2S.dump", "true");
}
else
{
config->set_property("Acquisition_2S.dump", "false");
}
config->set_property("Acquisition_2S.dump_filename", "./tmp-acq-gps2/acquisition_test");
config->set_property("Acquisition_2S.dump_channel", "1");
config->set_property("Acquisition_2S.threshold", "0.001");
config->set_property("Acquisition_2S.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_2S.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_2S.repeat_satellite", "false");
config->set_property("Acquisition_2S.make_two_steps", "false");
}
void GpsL2MPcpsAcquisitionTest::plot_grid()
{
//load the measured values
std::string basename = "./tmp-acq-gps2/acquisition_test_G_2S";
auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
auto samples_per_code = static_cast<unsigned int>(floor(static_cast<double>(sampling_frequency_hz) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS))));
Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
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("impulses");
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("GPS L2CM 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("GPS_L2CM_acq_grid");
g1.savetopdf("GPS_L2CM_acq_grid");
}
catch (const GnuplotException &ge)
{
std::cout << ge.what() << std::endl;
}
}
std::string data_str = "./tmp-acq-gps2";
if (fs::exists(data_str))
{
fs::remove_all(data_str);
}
}
TEST_F(GpsL2MPcpsAcquisitionTest, Instantiate)
{
init();
queue = gr::msg_queue::make(0);
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition_2S", 1, 0);
}
TEST_F(GpsL2MPcpsAcquisitionTest, ConnectAndRun)
{
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");
queue = gr::msg_queue::make(0);
init();
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition_2S", 1, 0);
ASSERT_NO_THROW({
acquisition->connect(top_block);
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(sampling_frequency_hz, gr::analog::GR_SIN_WAVE, 2000, 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);
boost::shared_ptr<GpsL2MPcpsAcquisitionTest_msg_rx> msg_rx = GpsL2MPcpsAcquisitionTest_msg_rx_make();
}) << "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(GpsL2MPcpsAcquisitionTest, ValidationOfResults)
{
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");
queue = gr::msg_queue::make(0);
double expected_delay_samples = 1; //2004;
double expected_doppler_hz = 1200; //3000;
if (FLAGS_plot_acq_grid == true)
{
std::string data_str = "./tmp-acq-gps2";
if (fs::exists(data_str))
{
fs::remove_all(data_str);
}
fs::create_directory(data_str);
}
init();
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition_2S", 1, 0);
boost::shared_ptr<GpsL2MPcpsAcquisitionTest_msg_rx> msg_rx = GpsL2MPcpsAcquisitionTest_msg_rx_make();
ASSERT_NO_THROW({
acquisition->set_channel(1);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.001);
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(doppler_max);
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_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/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat";
std::string file = path + "signal_samples/gps_l2c_m_prn7_5msps.dat";
//std::string file = "/datalogger/signals/Fraunhofer/L125_III1b_210s_L2_resampled.bin";
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);
//gr::blocks::interleaved_short_to_complex::sptr gr_interleaved_short_to_complex_ = gr::blocks::interleaved_short_to_complex::make();
//gr::blocks::char_to_short::sptr gr_char_to_short_ = gr::blocks::char_to_short::make();
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
//top_block->connect(file_source, 0, gr_char_to_short_, 0);
//top_block->connect(gr_char_to_short_, 0, gr_interleaved_short_to_complex_ , 0);
top_block->connect(file_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.";
ASSERT_NO_THROW({
acquisition->set_local_code();
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
acquisition->init();
}) << "Failure set_state and init 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 << "Acquisition process runtime duration: " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
std::cout << "gnss_synchro.Acq_doppler_hz = " << gnss_synchro.Acq_doppler_hz << " Hz" << std::endl;
std::cout << "gnss_synchro.Acq_delay_samples = " << gnss_synchro.Acq_delay_samples << " Samples" << std::endl;
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
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 / 4000);
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
EXPECT_LE(doppler_error_hz, 200) << "Doppler error exceeds the expected value: 2/(3*integration period)";
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
if (FLAGS_plot_acq_grid == true)
{
plot_grid();
}
}
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