[hamradio-commits] [gnss-sdr] 06/80: Print RTCM messages in binary format
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sun May 15 20:11:51 UTC 2016
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carles_fernandez-guest pushed a commit to branch upstream
in repository gnss-sdr.
commit 4fd4c24747607cd68a65431fdfd41964fc0d65d5
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Sat Apr 30 15:20:56 2016 +0200
Print RTCM messages in binary format
---
src/core/system_parameters/rtcm.cc | 57 ++++++++++++++++++++++++++++---
src/core/system_parameters/rtcm.h | 3 ++
src/tests/formats/rtcm_test.cc | 30 +++++++++++-----
src/tests/gnss_block/rtcm_printer_test.cc | 19 ++++++++---
4 files changed, 91 insertions(+), 18 deletions(-)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 905a824..cd2aa88 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -148,7 +148,7 @@ std::string Rtcm::add_CRC (const std::string & message_without_crc) const
// 3) Builds the complete message
std::string complete_message = message_without_crc + crc_frame.to_string();
- return bin_to_hex(complete_message);
+ return bin_to_binary_data(complete_message);
}
@@ -156,7 +156,7 @@ bool Rtcm::check_CRC(const std::string & message) const
{
boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
// Convert message to binary
- std::string message_bin = Rtcm::hex_to_bin(message);
+ std::string message_bin = Rtcm::binary_data_to_bin(message);
// Check CRC
std::string crc = message_bin.substr(message_bin.length() - 24, 24);
std::bitset<24> read_crc = std::bitset<24>(crc);
@@ -180,6 +180,53 @@ bool Rtcm::check_CRC(const std::string & message) const
}
+std::string Rtcm::bin_to_binary_data(const std::string& s) const
+{
+ std::string s_aux;
+ int remainder = static_cast<int>(std::fmod(s.length(), 4));
+ unsigned char c[s.length()];
+ unsigned int k = 0;
+ if (remainder != 0)
+ {
+ s_aux.assign(s, 0 , remainder);
+ boost::dynamic_bitset<> rembits(s_aux);
+ unsigned long int n = rembits.to_ulong();
+ c[0] = (unsigned char)n;
+ k++;
+ }
+
+ unsigned int start = std::max(remainder, 0);
+ for(unsigned int i = start; i < s.length() - 1; i = i + 4)
+ {
+ s_aux.assign(s, i, 4);
+ std::bitset<4> bs(s_aux);
+ unsigned n = bs.to_ulong();
+ c[k] = (unsigned char)n;
+ k++;
+ }
+
+ std::string ret(c, c + k / sizeof(c[0]));
+ return ret;
+}
+
+
+std::string Rtcm::binary_data_to_bin(const std::string& s) const
+{
+ std::string s_aux;
+ std::stringstream ss;
+
+ for(unsigned int i = 0; i < s.length(); i++)
+ {
+ unsigned char val = static_cast<unsigned char>(s.at(i));
+ std::bitset<4> bs(val);
+ ss << bs;
+ }
+
+ s_aux = ss.str();
+ return s_aux;
+}
+
+
std::string Rtcm::bin_to_hex(const std::string& s) const
{
std::string s_aux;
@@ -842,7 +889,7 @@ std::string Rtcm::print_MT1005( unsigned int ref_id, double ecef_x, double ecef_
int Rtcm::read_MT1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo)
{
// Convert message to binary
- std::string message_bin = Rtcm::hex_to_bin(message);
+ std::string message_bin = Rtcm::binary_data_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
@@ -1118,7 +1165,7 @@ std::string Rtcm::print_MT1019(const Gps_Ephemeris & gps_eph)
int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
{
// Convert message to binary
- std::string message_bin = Rtcm::hex_to_bin(message);
+ std::string message_bin = Rtcm::binary_data_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
@@ -1400,7 +1447,7 @@ std::string Rtcm::print_MT1045(const Galileo_Ephemeris & gal_eph)
int Rtcm::read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph)
{
// Convert message to binary
- std::string message_bin = Rtcm::hex_to_bin(message);
+ std::string message_bin = Rtcm::binary_data_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 2e7bd4e..2460e6c 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -266,6 +266,9 @@ public:
std::string bin_to_hex(const std::string & s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string & s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
+ std::string bin_to_binary_data(const std::string& s) const; //<! Returns a string of binary data from a string of binary symbols
+ std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
+
unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
long int bin_to_int(const std::string & s) const; //<! Returns a long int from a string of binary symbols
double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols
diff --git a/src/tests/formats/rtcm_test.cc b/src/tests/formats/rtcm_test.cc
index e9a2ac6..f5cbbe4 100644
--- a/src/tests/formats/rtcm_test.cc
+++ b/src/tests/formats/rtcm_test.cc
@@ -155,13 +155,25 @@ TEST(Rtcm_Test, Bin_to_int)
}
+TEST(Rtcm_Test, Bin_to_binary_data)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ std::string bin_str("01011010");
+ std::string data_str = rtcm->bin_to_binary_data(bin_str);
+ std::string recovered_str = rtcm->binary_data_to_bin(data_str);
+ EXPECT_EQ(0, recovered_str.compare(bin_str));
+}
+
+
TEST(Rtcm_Test, Check_CRC)
{
auto rtcm = std::make_shared<Rtcm>();
bool expected_true = true;
bool expected_false = false;
- EXPECT_EQ(expected_true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
- EXPECT_EQ(expected_false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
+ std::string good_crc = rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
+ std::string bad_crc = rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
+ EXPECT_EQ(expected_true, rtcm->check_CRC(good_crc));
+ EXPECT_EQ(expected_false, rtcm->check_CRC(bad_crc));
EXPECT_EQ(expected_true, rtcm->check_CRC(rtcm->print_MT1005_test()));
EXPECT_EQ(expected_true, rtcm->check_CRC(rtcm->print_MT1005_test())); // Run twice to check that CRC has no memory
@@ -264,10 +276,10 @@ TEST(Rtcm_Test, MT1029)
Gps_Ephemeris gps_eph = Gps_Ephemeris();
std::string m1029 = rtcm->print_MT1029(ref_id, gps_eph, obs_time, s_test);
std::string encoded_text = m1029.substr(24, 60);
- std::string expected_encoded_text("5554462D3820D0BFD180D0BED0B2D0B5D180D0BAD0B02077C3B672746572");
+ std::string expected_encoded_text(rtcm->bin_to_binary_data(rtcm->hex_to_bin("5554462D3820D0BFD180D0BED0B2D0B5D180D0BAD0B02077C3B672746572")));
EXPECT_EQ(0, expected_encoded_text.compare(encoded_text));
- std::string characters_to_follow = m1029.substr(22, 2);
+ std::string characters_to_follow = rtcm->bin_to_hex(rtcm->binary_data_to_bin(m1029.substr(22, 2)));
std::string expected_characters_to_follow("1E");
EXPECT_EQ(0, expected_characters_to_follow.compare(characters_to_follow));
}
@@ -368,7 +380,7 @@ TEST(Rtcm_Test, MSMCell)
divergence_free,
more_messages);
- std::string MSM1_bin = rtcm->hex_to_bin(MSM1);
+ std::string MSM1_bin = rtcm->binary_data_to_bin(MSM1);
unsigned int Nsat = 4;
unsigned int Nsig = 3;
unsigned int size_header = 14;
@@ -392,7 +404,7 @@ TEST(Rtcm_Test, MSMCell)
smooth_int,
divergence_free,
more_messages);
- std::string MSM1_bin_2 = rtcm->hex_to_bin(MSM1_2);
+ std::string MSM1_bin_2 = rtcm->binary_data_to_bin(MSM1_2);
EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
Gnss_Synchro gnss_synchro6;
@@ -419,7 +431,7 @@ TEST(Rtcm_Test, MSMCell)
smooth_int,
divergence_free,
more_messages);
- std::string MSM1_bin_3 = rtcm->hex_to_bin(MSM1_3);
+ std::string MSM1_bin_3 = rtcm->binary_data_to_bin(MSM1_3);
EXPECT_EQ(0, MSM1_bin_3.substr(size_header + size_msg_length + 169, (Nsat-1) * Nsig).compare("001010111")); // check cell mask
}
@@ -489,7 +501,7 @@ TEST(Rtcm_Test, MSM1)
EXPECT_EQ(expected_true, rtcm->check_CRC(MSM1));
- std::string MSM1_bin = rtcm->hex_to_bin(MSM1);
+ std::string MSM1_bin = rtcm->binary_data_to_bin(MSM1);
unsigned int Nsat = 3;
unsigned int Nsig = 2;
unsigned int size_header = 14;
@@ -533,7 +545,7 @@ TEST(Rtcm_Test, MSM1)
smooth_int,
divergence_free,
more_messages);
- std::string MSM1_bin2 = rtcm->hex_to_bin(MSM1_2);
+ std::string MSM1_bin2 = rtcm->binary_data_to_bin(MSM1_2);
int read_psrng4_s_2 = rtcm->bin_to_int( MSM1_bin2.substr(size_header + size_msg_length + 169 + (Nsat * Nsig) + 30 + 15 * 3, 15));
EXPECT_EQ(psrng4_s, read_psrng4_s_2);
}
diff --git a/src/tests/gnss_block/rtcm_printer_test.cc b/src/tests/gnss_block/rtcm_printer_test.cc
index 74eed31..33e99cc 100644
--- a/src/tests/gnss_block/rtcm_printer_test.cc
+++ b/src/tests/gnss_block/rtcm_printer_test.cc
@@ -37,9 +37,6 @@
//#include "gps_ephemeris.h"
-
-
-
TEST(Rtcm_Printer_Test, Instantiate)
{
std::string filename = "hello.rtcm";
@@ -49,6 +46,7 @@ TEST(Rtcm_Printer_Test, Instantiate)
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
}
+
TEST(Rtcm_Printer_Test, Run)
{
// std::string file_name = "./gps_ephemeris_rx.xml";
@@ -75,9 +73,22 @@ TEST(Rtcm_Printer_Test, Run)
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98";
+
+ /* Convert the reference message to binary data */
+ std::string reference_msg_binary;
+ unsigned char c[1];
+ for(unsigned int i = 0; i < reference_msg.length(); i++)
+ {
+ unsigned long int n;
+ std::istringstream(reference_msg.substr(i,1)) >> std::hex >> n;
+ c[0] = (unsigned char)n;
+ std::string ret(c, c+1);
+ reference_msg_binary += ret;
+ }
+
std::string testing_msg = RTCM_printer->print_MT1005_test();
- EXPECT_EQ(reference_msg, testing_msg);
+ EXPECT_EQ(0, reference_msg_binary.compare(testing_msg));
}
--
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