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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_t...

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/*!
* \file galileo_fnav_inav_decoder_test.cc
* \brief This class implements the unit test for the Galileo FNAV and INAV frames
* according to the Galileo ICD
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2012-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "galileo_fnav_message.h"
#include "galileo_inav_message.h"
#include "viterbi_decoder.h"
#include <gtest/gtest.h>
#include <algorithm> // for copy
#include <array>
#include <chrono>
#include <exception>
#include <iterator> // for std::back_inserter
#include <string>
#include <unistd.h>
class Galileo_FNAV_INAV_test : public ::testing::Test
{
public:
Galileo_FNAV_INAV_test()
{
// vars for Viterbi decoder
viterbi_inav->nsc_transit(i_out0, i_state0, 0);
viterbi_inav->nsc_transit(i_out1, i_state1, 1);
viterbi_fnav->nsc_transit(f_out0, f_state0, 0);
viterbi_fnav->nsc_transit(f_out1, f_state1, 1);
flag_even_word_arrived = 0;
}
~Galileo_FNAV_INAV_test() = default;
Galileo_Inav_Message INAV_decoder;
Galileo_Fnav_Message FNAV_decoder;
const int32_t nn = 2; // Coding rate 1/n
const int32_t KK = 7; // Constraint Length
int32_t mm = KK - 1;
int32_t flag_even_word_arrived;
const std::array<int32_t, 2> g_encoder{{121, 91}};
std::shared_ptr<Viterbi_Decoder> viterbi_fnav = std::make_shared<Viterbi_Decoder>(KK, nn, ((488 / nn) - mm), g_encoder);
std::shared_ptr<Viterbi_Decoder> viterbi_inav = std::make_shared<Viterbi_Decoder>(KK, nn, ((240 / nn) - mm), g_encoder);
int32_t max_states = 1 << mm; // 2^mm
std::vector<int32_t> i_out0 = std::vector<int32_t>(max_states);
std::vector<int32_t> i_out1 = std::vector<int32_t>(max_states);
std::vector<int32_t> i_state0 = std::vector<int32_t>(max_states);
std::vector<int32_t> i_state1 = std::vector<int32_t>(max_states);
std::vector<int32_t> f_out0 = std::vector<int32_t>(max_states);
std::vector<int32_t> f_out1 = std::vector<int32_t>(max_states);
std::vector<int32_t> f_state0 = std::vector<int32_t>(max_states);
std::vector<int32_t> f_state1 = std::vector<int32_t>(max_states);
void deinterleaver(int32_t rows, int32_t cols, const float *in, float *out)
{
for (int32_t r = 0; r < rows; r++)
{
for (int32_t c = 0; c < cols; c++)
{
out[c * rows + r] = in[r * cols + c];
}
}
}
bool decode_INAV_word(float *page_part_symbols, int32_t frame_length)
{
// 1. De-interleave
std::vector<float> page_part_symbols_deint = std::vector<float>(frame_length / 2);
std::copy(&page_part_symbols[0], &page_part_symbols[frame_length / 2], std::back_inserter(page_part_symbols_deint));
deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint.data());
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
for (int32_t i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_part_symbols_deint[i] = -page_part_symbols_deint[i];
}
}
std::vector<int32_t> page_part_bits = std::vector<int32_t>(frame_length / 2);
viterbi_inav->decode(page_part_bits, i_out0, i_state0, i_out1, i_state1, page_part_symbols_deint);
// 3. Call the Galileo page decoder
std::string page_String;
for (int32_t i = 0; i < (frame_length / 2); i++)
{
if (page_part_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
bool crc_ok = false;
if (page_part_bits[0] == 1)
{
// DECODE COMPLETE WORD (even + odd) and TEST CRC
INAV_decoder.split_page(page_String, flag_even_word_arrived);
if (INAV_decoder.get_flag_CRC_test() == true)
{
crc_ok = true;
}
flag_even_word_arrived = 0;
}
else
{
// STORE HALF WORD (even page)
INAV_decoder.split_page(page_String.c_str(), flag_even_word_arrived);
flag_even_word_arrived = 1;
}
return crc_ok;
}
bool decode_FNAV_word(float *page_symbols, int32_t frame_length)
{
// 1. De-interleave
std::vector<float> page_symbols_deint = std::vector<float>(frame_length);
std::copy(&page_symbols[0], &page_symbols[frame_length / 2], std::back_inserter(page_symbols_deint));
deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint.data());
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180
for (int32_t i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_symbols_deint[i] = -page_symbols_deint[i];
}
}
std::vector<int32_t> page_bits = std::vector<int32_t>(frame_length);
viterbi_fnav->decode(page_bits, f_out0, f_state0, f_out1, f_state1, page_symbols_deint);
// 3. Call the Galileo page decoder
std::string page_String;
for (int32_t i = 0; i < frame_length; i++)
{
if (page_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
// DECODE COMPLETE WORD (even + odd) and TEST CRC
FNAV_decoder.split_page(page_String);
if (FNAV_decoder.get_flag_CRC_test() == true)
{
return true;
}
return false;
}
};
TEST_F(Galileo_FNAV_INAV_test, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
start = std::chrono::system_clock::now();
int repetitions = 10;
// FNAV FULLY ENCODED FRAME
float FNAV_frame[488] = {-1, 1, -1, -1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
1, -1, -1, 1, -1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1,
-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, 1, -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, 1, -1, 1, -1,
-1, 1, 1, -1, 1, 1, 1, 1, -1, 1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, 1, 1, -1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, -1,
-1, -1, -1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, 1, 1,
-1, -1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1,
-1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, -1, -1, -1, -1, 1, -1, -1, 1, 1, 1, 1, 1, 1, -1,
-1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, -1, 1, 1, -1, 1, -1, -1, -1, 1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, -1, 1, 1, 1, 1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, -1, 1, 1, -1,
1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, -1, -1, -1, -1, 1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
-1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1,
1, -1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, -1,
-1, 1, -1, -1, -1, -1, 1, -1, -1, -1, -1, 1, 1, 1, -1, 1, -1, 1, -1, 1, 1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, -1, -1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
1, -1, 1, -1, -1, 1, 1, 1, -1, -1, 1, -1, 1, 1};
ASSERT_NO_THROW({
for (int n = 0; n < repetitions; n++)
{
EXPECT_EQ(decode_FNAV_word(&FNAV_frame[0], 488), true);
}
}) << "Exception during FNAV frame decoding";
// INAV FULLY ENCODED FRAME
float INAV_frame_even[240] = {-1, -1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 1,
-1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, -1, 1, -1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, -1, 1, 1, -1, 1, 1, 1, 1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, 1, -1, 1, -1, -1, -1, -1, 1, 1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, 1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1,
1, -1, 1, 1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, 1,
-1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1};
float INAV_frame_odd[240] = {1, -1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
1, 1, 1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, 1, -1, 1,
1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1,
-1, -1, 1, 1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1, 1,
1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
-1, 1, -1, 1, -1, 1, 1, -1, -1, 1, 1, 1, 1, -1, -1, -1,
1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, 1, 1, -1, -1,
1, -1, 1, -1, -1, -1, 1, 1, -1, -1, 1, -1, 1, 1, -1, -1,
-1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, 1, -1, 1,
1, 1, -1, 1, 1, 1, 1, 1, -1, -1, -1, 1, 1, 1, 1, 1,
1, 1, 1, 1, -1, 1, -1, -1, -1, -1, -1, 1, -1, 1, -1, 1,
-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1,
-1, -1, 1, -1, -1, -1, -1, -1, -1, 1, -1, 1, 1, 1, 1, 1,
1, -1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 1, 1, -1, -1, -1, -1, 1, 1, -1, -1, 1, 1};
ASSERT_NO_THROW({
for (int n = 0; n < repetitions; n++)
{
decode_INAV_word(&INAV_frame_even[0], 240);
EXPECT_EQ(decode_INAV_word(&INAV_frame_odd[0], 240), true);
}
}) << "Exception during INAV frame decoding";
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
std::cout << "Galileo INAV/FNAV CRC and Viterbi decoder test completed in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
}
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