[hamradio-commits] [gnss-sdr] 266/303: GNSS simulator-in-the-loop completed for tracking and telemetry unit tests
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:36:07 UTC 2017
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit dc910bca4e74678e8dece8d8934763c4ec4e65d4
Author: Javier Arribas <javiarribas at gmail.com>
Date: Thu Feb 2 16:41:58 2017 +0100
GNSS simulator-in-the-loop completed for tracking and telemetry unit tests
---
.../gps_l1_ca_dll_pll_tracking_cc.cc | 2 +-
.../signal-processing-blocks/libs/CMakeLists.txt | 6 +-
.../libs/tlm_dump_reader.cc | 73 +++++++
.../libs/tlm_dump_reader.h | 34 +++
.../libs/tracking_dump_reader.cc | 93 +++++++++
.../libs/tracking_dump_reader.h | 63 ++++++
.../libs/tracking_obs_reader.h | 33 ---
...g_obs_reader.cc => tracking_true_obs_reader.cc} | 42 ++--
.../libs/tracking_true_obs_reader.h | 36 ++++
.../gps_l1_ca_telemetry_decoder_test.cc | 232 +++++++++++++++++++--
10 files changed, 545 insertions(+), 69 deletions(-)
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
index fb50e95..deda703 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
@@ -465,7 +465,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
// PLL commands
d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
- d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+ d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
// DLL commands
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt b/src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt
index 35efafc..82d4d76 100644
--- a/src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt
@@ -17,8 +17,10 @@
#
-set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
- tracking_obs_reader.cc
+set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
+ tracking_dump_reader.cc
+ tlm_dump_reader.cc
+ tracking_true_obs_reader.cc
)
include_directories(
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.cc b/src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.cc
new file mode 100644
index 0000000..9cfb645
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.cc
@@ -0,0 +1,73 @@
+//
+// Created by javier on 1/2/2017.
+//
+
+#include "tlm_dump_reader.h"
+
+bool tlm_dump_reader::read_binary_obs()
+ {
+ try {
+ d_dump_file.read((char *) &TOW_at_current_symbol, sizeof(double));
+ d_dump_file.read((char *) &Prn_timestamp_ms, sizeof(double));
+ d_dump_file.read((char *) &d_TOW_at_Preamble, sizeof(double));
+ }
+ catch (const std::ifstream::failure &e) {
+ return false;
+ }
+ return true;
+ }
+
+bool tlm_dump_reader::restart() {
+ if (d_dump_file.is_open())
+ {
+ d_dump_file.clear();
+ d_dump_file.seekg(0, std::ios::beg);
+ return true;
+ }else{
+ return false;
+ }
+}
+
+long int tlm_dump_reader::num_epochs()
+{
+ std::ifstream::pos_type size;
+ int number_of_vars_in_epoch=3;
+ int epoch_size_bytes=sizeof(double)*number_of_vars_in_epoch;
+ std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+ if (tmpfile.is_open())
+ {
+ size = tmpfile.tellg();
+ long int nepoch=size / epoch_size_bytes;
+ return nepoch;
+ }else{
+ return 0;
+ }
+}
+
+bool tlm_dump_reader::open_obs_file(std::string out_file) {
+ if (d_dump_file.is_open() == false)
+ {
+ try
+ {
+ d_dump_filename=out_file;
+ d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
+ d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
+ std::cout << "TLM dump enabled, Log file: " << d_dump_filename.c_str()<< std::endl;
+ return true;
+ }
+ catch (const std::ifstream::failure & e)
+ {
+ std::cout << "Problem opening TLM dump Log file: " << d_dump_filename.c_str()<< std::endl;
+ return false;
+ }
+ }else{
+ return false;
+ }
+}
+
+tlm_dump_reader::~tlm_dump_reader() {
+ if (d_dump_file.is_open() == true)
+ {
+ d_dump_file.close();
+ }
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.h b/src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.h
new file mode 100644
index 0000000..0b64d19
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tlm_dump_reader.h
@@ -0,0 +1,34 @@
+//
+// Created by javier on 23/1/2017.
+//
+
+#ifndef GNSS_SIM_tlm_dump_reader_H
+#define GNSS_SIM_tlm_dump_reader_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class tlm_dump_reader {
+
+public:
+ ~tlm_dump_reader();
+ bool read_binary_obs();
+ bool restart();
+ long int num_epochs();
+ bool open_obs_file(std::string out_file);
+
+ //telemetry decoder dump variables
+ double TOW_at_current_symbol;
+ double Prn_timestamp_ms;
+ double d_TOW_at_Preamble;
+
+private:
+
+ std::string d_dump_filename;
+ std::ifstream d_dump_file;
+
+};
+
+#endif //GNSS_SIM_tlm_dump_reader_H
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
new file mode 100644
index 0000000..90b46b0
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
@@ -0,0 +1,93 @@
+//
+// Created by javier on 1/2/2017.
+//
+
+#include "tracking_dump_reader.h"
+
+bool tracking_dump_reader::read_binary_obs()
+ {
+ try {
+ d_dump_file.read((char *) &abs_E, sizeof(float));
+ d_dump_file.read((char *) &abs_P, sizeof(float));
+ d_dump_file.read((char *) &abs_L, sizeof(float));
+ d_dump_file.read((char *) &prompt_I, sizeof(float));
+ d_dump_file.read((char *) &prompt_Q, sizeof(float));
+
+ d_dump_file.read((char *) &PRN_start_sample_count, sizeof(unsigned long int));
+
+ d_dump_file.read((char *) &acc_carrier_phase_rad, sizeof(double));
+ d_dump_file.read((char *) &carrier_doppler_hz, sizeof(double));
+ d_dump_file.read((char *) &code_freq_chips, sizeof(double));
+ d_dump_file.read((char *) &carr_error_hz, sizeof(double));
+ d_dump_file.read((char *) &carr_error_filt_hz, sizeof(double));
+ d_dump_file.read((char *) &code_error_chips, sizeof(double));
+ d_dump_file.read((char *) &code_error_filt_chips, sizeof(double));
+ d_dump_file.read((char *) &CN0_SNV_dB_Hz, sizeof(double));
+ d_dump_file.read((char *) &carrier_lock_test, sizeof(double));
+ d_dump_file.read((char *) &aux1, sizeof(double));
+ d_dump_file.read((char *) &aux2, sizeof(double));
+
+ }
+ catch (const std::ifstream::failure &e) {
+ return false;
+ }
+ return true;
+ }
+
+bool tracking_dump_reader::restart() {
+ if (d_dump_file.is_open())
+ {
+ d_dump_file.clear();
+ d_dump_file.seekg(0, std::ios::beg);
+ return true;
+ }else{
+ return false;
+ }
+}
+
+long int tracking_dump_reader::num_epochs()
+{
+ std::ifstream::pos_type size;
+ int number_of_double_vars=11;
+ int number_of_float_vars=5;
+ int epoch_size_bytes=sizeof(unsigned long int)+
+ sizeof(double)*number_of_double_vars+
+ sizeof(float)*number_of_float_vars;
+ std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+ if (tmpfile.is_open())
+ {
+ size = tmpfile.tellg();
+ long int nepoch=size / epoch_size_bytes;
+ return nepoch;
+ }else{
+ return 0;
+ }
+}
+
+bool tracking_dump_reader::open_obs_file(std::string out_file) {
+ if (d_dump_file.is_open() == false)
+ {
+ try
+ {
+ d_dump_filename=out_file;
+ d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
+ d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
+ std::cout << "Tracking dump enabled, Log file: " << d_dump_filename.c_str()<< std::endl;
+ return true;
+ }
+ catch (const std::ifstream::failure & e)
+ {
+ std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str()<< std::endl;
+ return false;
+ }
+ }else{
+ return false;
+ }
+}
+
+tracking_dump_reader::~tracking_dump_reader() {
+ if (d_dump_file.is_open() == true)
+ {
+ d_dump_file.close();
+ }
+}
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h
new file mode 100644
index 0000000..a72315c
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h
@@ -0,0 +1,63 @@
+//
+// Created by javier on 23/1/2017.
+//
+
+#ifndef GNSS_SIM_tracking_dump_reader_H
+#define GNSS_SIM_tracking_dump_reader_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class tracking_dump_reader {
+
+public:
+ ~tracking_dump_reader();
+ bool read_binary_obs();
+ bool restart();
+ long int num_epochs();
+ bool open_obs_file(std::string out_file);
+
+ //tracking dump variables
+ // EPR
+ float abs_E;
+ float abs_P;
+ float abs_L;
+ // PROMPT I and Q (to analyze navigation symbols)
+ float prompt_I;
+ float prompt_Q;
+ // PRN start sample stamp
+ unsigned long int PRN_start_sample_count;
+
+ // accumulated carrier phase
+ double acc_carrier_phase_rad;
+
+ // carrier and code frequency
+ double carrier_doppler_hz;
+ double code_freq_chips;
+
+ // PLL commands
+ double carr_error_hz;
+ double carr_error_filt_hz;
+
+ // DLL commands
+ double code_error_chips;
+ double code_error_filt_chips;
+
+ // CN0 and carrier lock test
+ double CN0_SNV_dB_Hz;
+ double carrier_lock_test;
+
+ // AUX vars (for debug purposes)
+ double aux1;
+ double aux2;
+
+private:
+
+ std::string d_dump_filename;
+ std::ifstream d_dump_file;
+
+};
+
+#endif //GNSS_SIM_tracking_dump_reader_H
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.h b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.h
deleted file mode 100644
index c07f539..0000000
--- a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.h
+++ /dev/null
@@ -1,33 +0,0 @@
-//
-// Created by javier on 23/1/2017.
-//
-
-#ifndef GNSS_SIM_tracking_obs_reader_H
-#define GNSS_SIM_tracking_obs_reader_H
-
-#include <iostream>
-#include <fstream>
-#include <string>
-#include <vector>
-
-class tracking_obs_reader {
-
-public:
- ~tracking_obs_reader();
- bool read_binary_obs(double &signal_timestamp_s,
- double &acc_carrier_phase_cycles,
- double &doppler_l1_hz,
- double &prn_delay_chips,
- double &tow);
- bool restart();
- bool open_obs_file(std::string out_file);
- bool d_dump;
-
-private:
-
- std::string d_dump_filename;
- std::ifstream d_dump_file;
-
-};
-
-#endif //GNSS_SIM_tracking_obs_reader_H
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.cc b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
similarity index 57%
rename from src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.cc
rename to src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
index 648c0fd..cc843e7 100644
--- a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_obs_reader.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
@@ -2,13 +2,9 @@
// Created by javier on 1/2/2017.
//
-#include "tracking_obs_reader.h"
+#include "tracking_true_obs_reader.h"
-bool tracking_obs_reader::read_binary_obs(double &signal_timestamp_s,
- double &acc_carrier_phase_cycles,
- double &doppler_l1_hz,
- double &prn_delay_chips,
- double &tow)
+bool tracking_true_obs_reader::read_binary_obs()
{
try {
d_dump_file.read((char *) &signal_timestamp_s, sizeof(double));
@@ -18,17 +14,39 @@ bool tracking_obs_reader::read_binary_obs(double &signal_timestamp_s,
d_dump_file.read((char *) &tow, sizeof(double));
}
catch (const std::ifstream::failure &e) {
- std::cout << "Exception writing tracking obs dump file " << e.what() << std::endl;
+ return false;
}
return true;
}
-bool tracking_obs_reader::restart() {
- d_dump_file.clear();
- d_dump_file.seekg(0, std::ios::beg);
+bool tracking_true_obs_reader::restart() {
+ if (d_dump_file.is_open())
+ {
+ d_dump_file.clear();
+ d_dump_file.seekg(0, std::ios::beg);
+ return true;
+ }else{
+ return false;
+ }
+}
+
+long int tracking_true_obs_reader::num_epochs()
+{
+ std::ifstream::pos_type size;
+ int number_of_vars_in_epoch=5;
+ int epoch_size_bytes=sizeof(double)*number_of_vars_in_epoch;
+ std::ifstream tmpfile( d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+ if (tmpfile.is_open())
+ {
+ size = tmpfile.tellg();
+ long int nepoch=size / epoch_size_bytes;
+ return nepoch;
+ }else{
+ return 0;
+ }
}
-bool tracking_obs_reader::open_obs_file(std::string out_file) {
+bool tracking_true_obs_reader::open_obs_file(std::string out_file) {
if (d_dump_file.is_open() == false)
{
try
@@ -49,7 +67,7 @@ bool tracking_obs_reader::open_obs_file(std::string out_file) {
}
}
-tracking_obs_reader::~tracking_obs_reader() {
+tracking_true_obs_reader::~tracking_true_obs_reader() {
if (d_dump_file.is_open() == true)
{
d_dump_file.close();
diff --git a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.h b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.h
new file mode 100644
index 0000000..de46648
--- /dev/null
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.h
@@ -0,0 +1,36 @@
+//
+// Created by javier on 23/1/2017.
+//
+
+#ifndef GNSS_SIM_tracking_true_obs_reader_H
+#define GNSS_SIM_tracking_true_obs_reader_H
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class tracking_true_obs_reader {
+
+public:
+ ~tracking_true_obs_reader();
+ bool read_binary_obs();
+ bool restart();
+ long int num_epochs();
+ bool open_obs_file(std::string out_file);
+ bool d_dump;
+
+ double signal_timestamp_s;
+ double acc_carrier_phase_cycles;
+ double doppler_l1_hz;
+ double prn_delay_chips;
+ double tow;
+
+private:
+
+ std::string d_dump_filename;
+ std::ifstream d_dump_file;
+
+};
+
+#endif //GNSS_SIM_tracking_true_obs_reader_H
diff --git a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
index 58cddb9..ab1d8f6 100644
--- a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
@@ -31,8 +31,16 @@
*/
+#include <exception>
+#include <cstring>
#include <ctime>
#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/wait.h>
+#include <unistd.h>
+#include <numeric>
+#include <armadillo>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
@@ -42,6 +50,8 @@
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gtest/gtest.h>
+
+#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "tracking_interface.h"
@@ -50,9 +60,24 @@
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gps_l1_ca_telemetry_decoder.h"
+
+#include "../libs/tracking_true_obs_reader.h"
+#include "../libs/tracking_dump_reader.h"
+#include "../libs/tlm_dump_reader.h"
+
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
-#include "tracking_obs_reader.h"
+
+DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
+DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
+DEFINE_int32(duration, 20, "Duration of the experiment [in seconds]");
+DEFINE_int32(fs_gen_hz, 2600000, "Samppling frequency [Hz]");
+DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]");
+DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
+DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
+DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file");
+DEFINE_int32(test_satellite_PRN,1, "PRN of the satellite under test (must be visible during the observation time)");
+
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
class GpsL1CADllPllTelemetryDecoderTest_msg_rx;
@@ -164,7 +189,28 @@ GpsL1CADllPllTelemetryDecoderTest_tlm_msg_rx::~GpsL1CADllPllTelemetryDecoderTest
class GpsL1CATelemetryDecoderTest: public ::testing::Test
{
-protected:
+
+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;
+ std::string generated_rinex_obs;
+
+ int configure_generator();
+ int generate_signal();
+ void check_results(arma::vec true_time_s,
+ arma::vec true_value,
+ arma::vec meas_time_s,
+ arma::vec meas_value);
+
GpsL1CATelemetryDecoderTest()
{
factory = std::make_shared<GNSSBlockFactory>();
@@ -176,7 +222,7 @@ protected:
~GpsL1CATelemetryDecoderTest()
{}
- void init();
+ void configure_receiver();
gr::msg_queue::sptr queue;
gr::top_block_sptr top_block;
@@ -186,16 +232,59 @@ protected:
size_t item_size;
};
+int GpsL1CATelemetryDecoderTest::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;
+}
+
-void GpsL1CATelemetryDecoderTest::init()
+int GpsL1CATelemetryDecoderTest::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 GpsL1CATelemetryDecoderTest::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 = 1;
+ gnss_synchro.PRN = FLAGS_test_satellite_PRN;
- config->set_property("GNSS-SDR.internal_fs_hz", "2600000");
+ config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(baseband_sampling_freq));
// Set Tracking
config->set_property("Tracking_1C.item_type", "gr_complex");
@@ -211,21 +300,57 @@ void GpsL1CATelemetryDecoderTest::init()
}
+void GpsL1CATelemetryDecoderTest::check_results(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. report
+
+ std::cout<< std::setprecision(10)<<"Telemetry reported TOW RMSE="<<rmse<<" [s], mean="<<error_mean<<" [s], stdev="<<sqrt(error_var)<<" [s]."<<std::endl;
+
+}
+
TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
{
+
+ // 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;
- int fs_in = 2600000;
-
- init();
- //todo: call here the gnss simulator
+ configure_receiver();
//open true observables log file written by the simulator
- tracking_obs_reader true_obs_data;
+ 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("signal_samples/gps_l1_ca_obs_prn1.dat")==false)
+ if (true_obs_data.open_obs_file(true_obs_file)==false)
{
throw std::exception();
};
@@ -239,8 +364,20 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
boost::shared_ptr<GpsL1CADllPllTelemetryDecoderTest_msg_rx> msg_rx = GpsL1CADllPllTelemetryDecoderTest_msg_rx_make();
- gnss_synchro.Acq_delay_samples = (1023-994.622/1023)*fs_in*1e-3;
- gnss_synchro.Acq_doppler_hz = -2583.86;
+ // 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;
std::shared_ptr<TelemetryDecoderInterface> tlm(new GpsL1CaTelemetryDecoder(config.get(), "TelemetryDecoder_1C",1, 1));
@@ -261,20 +398,17 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
}) << "Failure connecting tracking to the top_block." << std::endl;
ASSERT_NO_THROW( {
- std::string path = std::string(TEST_PATH);
- std::string file = path + "signal_samples/signal_out.dat";
+ 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);
- //boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
- //top_block->connect(gr_interleaved_char_to_complex, 0, valve, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, tlm->get_left_block(), 0);
top_block->connect(tlm->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;
+ }) << "Failure connecting the blocks." << std::endl;
tracking->start_tracking();
@@ -286,7 +420,63 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
end = tv.tv_sec *1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
- // TODO: Verify tracking results
- std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << 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
+ tlm_dump_reader tlm_dump;
+ ASSERT_NO_THROW({
+ if (tlm_dump.open_obs_file(std::string("./telemetry0.dat"))==false)
+ {
+ throw std::exception();
+ };
+ })<< "Failure opening telemetry dump file" << std::endl;
+
+ nepoch =tlm_dump.num_epochs();
+ std::cout<<"Measured observation epochs="<<nepoch<<std::endl;
+
+ arma::vec tlm_timestamp_s=arma::zeros(nepoch,1);
+ arma::vec tlm_TOW_at_Preamble=arma::zeros(nepoch,1);
+ arma::vec tlm_tow_s=arma::zeros(nepoch,1);
+
+ epoch_counter=0;
+ while(tlm_dump.read_binary_obs())
+ {
+ tlm_timestamp_s(epoch_counter)=tlm_dump.Prn_timestamp_ms/1000.0;
+ tlm_TOW_at_Preamble(epoch_counter)=tlm_dump.d_TOW_at_Preamble;
+ tlm_tow_s(epoch_counter)=tlm_dump.TOW_at_current_symbol;
+ epoch_counter++;
+
+ }
+
+ //Cut measurement initial transitory of the measurements
+ arma::uvec initial_meas_point = arma::find(tlm_tow_s >= true_tow_s(0), 1, "first");
+
+ tlm_timestamp_s=tlm_timestamp_s.subvec(initial_meas_point(0),tlm_timestamp_s.size()-1);
+ tlm_tow_s=tlm_tow_s.subvec(initial_meas_point(0),tlm_tow_s.size()-1);
+
+ check_results(true_timestamp_s,true_tow_s,tlm_timestamp_s,tlm_tow_s);
+
+ std::cout << "Test completed in " << (end - begin) << " microseconds" << std::endl;
}
--
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