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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_...

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/*!
* \file gps_l1_ca_dll_pll_tracking_test.cc
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
* implementation based on some input parameters.
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2017 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <ctime>
#include <iostream>
#include <unistd.h>
#include <armadillo>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
#include <sys/wait.h>
#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "tracking_interface.h"
#include "in_memory_configuration.h"
#include "gnss_synchro.h"
//#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
#include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h"
#include "signal_generator_flags.h"
#include "interleaved_byte_to_complex_short.h"
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GpsL1CADllPllTrackingTestFpga_msg_rx;
typedef boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
class GpsL1CADllPllTrackingTestFpga_msg_rx : public gr::block
{
private:
friend GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
GpsL1CADllPllTrackingTestFpga_msg_rx();
public:
int rx_message;
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
};
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make()
{
return GpsL1CADllPllTrackingTestFpga_msg_rx_sptr(new GpsL1CADllPllTrackingTestFpga_msg_rx());
}
void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
long int message = pmt::to_long(msg);
rx_message = message;
}
catch(boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
rx_message = 0;
}
}
GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() :
gr::block("GpsL1CADllPllTrackingTestFpga_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(&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
{}
// ###########################################################
class GpsL1CADllPllTrackingTestFpga: public ::testing::Test
{
public:
std::string generator_binary;
std::string p1;
std::string p2;
std::string p3;
std::string p4;
std::string p5;
const int baseband_sampling_freq = FLAGS_fs_gen_hz;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
int configure_generator();
int generate_signal();
void check_results_doppler(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value);
void check_results_acc_carrier_phase(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value);
void check_results_codephase(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value);
GpsL1CADllPllTrackingTestFpga()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
}
~GpsL1CADllPllTrackingTestFpga()
{}
void configure_receiver();
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 GpsL1CADllPllTrackingTestFpga::configure_generator()
{
// Configure signal generator
generator_binary = FLAGS_generator_binary;
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
if(FLAGS_dynamic_position.empty())
{
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
}
else
{
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
}
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
return 0;
}
int GpsL1CADllPllTrackingTestFpga::generate_signal()
{
int child_status;
char *const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL };
int pid;
if ((pid = fork()) == -1)
perror("fork err");
else if (pid == 0)
{
execv(&generator_binary[0], parmList);
std::cout << "Return not expected. Must be an execv err." << std::endl;
std::terminate();
}
waitpid(pid, &child_status, 0);
std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
return 0;
}
void GpsL1CADllPllTrackingTestFpga::configure_receiver()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "1C";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(baseband_sampling_freq));
// Set Tracking
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga");
config->set_property("Tracking_1C.item_type", "cshort");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
config->set_property("Tracking_1C.pll_bw_hz", "30.0");
config->set_property("Tracking_1C.dll_bw_hz", "2.0");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
}
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value)
{
//1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
arma::vec err;
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
// 5. Peaks
double max_error = arma::max(err);
double min_error = arma::min(err);
//5. report
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
}
void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value)
{
//1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
arma::vec err;
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
// 4. Peaks
double max_error = arma::max(err);
double min_error = arma::min(err);
//5. report
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
}
void GpsL1CADllPllTrackingTestFpga::check_results_codephase(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value)
{
//1. True value interpolation to match the measurement times
arma::vec true_value_interp;
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
arma::vec err;
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
//3. Mean err and variance
double error_mean = arma::mean(err);
double error_var = arma::var(err);
// 4. Peaks
double max_error = arma::max(err);
double min_error = arma::min(err);
//5. report
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
}
TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
{
// Configure the signal generator
configure_generator();
// Generate signal raw signal samples and observations RINEX file
//generate_signal();
struct timeval tv;
long long int begin = 0;
long long int end = 0;
configure_receiver();
//open true observables log file written by the simulator
tracking_true_obs_reader true_obs_data;
int test_satellite_PRN = FLAGS_test_satellite_PRN;
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
true_obs_file.append(std::to_string(test_satellite_PRN));
true_obs_file.append(".dat");
ASSERT_NO_THROW({
if (true_obs_data.open_obs_file(true_obs_file) == false)
{
throw std::exception();
};
}) << "Failure opening true observables file" << std::endl;
top_block = gr::make_top_block("Tracking test");
//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTrackingFpga>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> msg_rx = GpsL1CADllPllTrackingTestFpga_msg_rx_make();
// load acquisition data based on the first epoch of the true observations
ASSERT_NO_THROW({
if (true_obs_data.read_binary_obs() == false)
{
throw std::exception();
};
}) << "Failure reading true observables file" << std::endl;
//restart the epoch counter
true_obs_data.restart();
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
gnss_synchro.Acq_samplestamp_samples = 0;
ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl;
ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
ASSERT_NO_THROW( {
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block." << std::endl;
ASSERT_NO_THROW( {
std::string file = "./" + filename_raw_data;
const char * file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
interleaved_byte_to_complex_short_sptr char_to_cshort = make_interleaved_byte_to_complex_short();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, char_to_cshort, 0);
top_block->connect(char_to_cshort, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of tracking test." << std::endl;
tracking->start_tracking();
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec * 1000000 + tv.tv_usec;
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec * 1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
//check results
//load the true values
long int nepoch = true_obs_data.num_epochs();
std::cout << "True observation epochs=" << nepoch << std::endl;
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
arma::vec true_tow_s = arma::zeros(nepoch, 1);
long int epoch_counter = 0;
while(true_obs_data.read_binary_obs())
{
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
true_tow_s(epoch_counter) = true_obs_data.tow;
epoch_counter++;
}
//load the measured values
tracking_dump_reader trk_dump;
ASSERT_NO_THROW({
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
{
throw std::exception();
};
}) << "Failure opening tracking dump file" << std::endl;
nepoch = trk_dump.num_epochs();
std::cout << "Measured observation epochs=" << nepoch << std::endl;
arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
epoch_counter = 0;
while(trk_dump.read_binary_obs())
{
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS
- GPS_L1_CA_CODE_LENGTH_CHIPS
* (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) /1.0e-3);
trk_prn_delay_chips(epoch_counter) = delay_chips;
epoch_counter++;
}
//Align initial measurements and cut the tracking pull-in transitory
double pull_in_offset_s = 1.0;
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
}
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