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@carlesfernandez
carlesfernandez committed Apr 25, 2016
2 parents d63a5cd + e99bae8 commit 36ab6a0
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Showing 12 changed files with 308 additions and 207 deletions.
17 changes: 15 additions & 2 deletions README.md
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Expand Up @@ -16,7 +16,7 @@ This section describes how to set up the compilation environment in GNU/Linux or
GNU/Linux
----------

* Tested distributions: Ubuntu 14.04 LTS, 14.10, 15.04 and 15.10, Debian 8.0 "jessie", Linaro 15.03
* Tested distributions: Ubuntu from 14.04 LTS to 16.04 LTS, Debian 8.0 "jessie", Linaro 15.03
* Known to work but not continually tested: Arch Linux, Fedora, and openSUSE
* Supported microprocessor architectures:
* i386: Intel x86 instruction set (32-bit microprocessors).
Expand All @@ -37,7 +37,20 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev libgtest-dev
~~~~~~

Once you have installed these packages, you can jump directly to [how to download the source code and build GNSS-SDR](#download-and-build-linux). Alternatively, if you need to manually build and install those libraries, please keep reading.
Alternatively, and starting from Ubuntu 16.04 LTS, you can install all required dependencies by adding the line

~~~~~~
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial universe
~~~~~~

at your ```/etc/apt/sources.list``` file and doing:

~~~~~~
$ sudo apt-get update
$ sudo apt-get build-dep gnss-sdr
~~~~~~

Once you have installed these packages, you can jump directly to [how to download the source code and build GNSS-SDR](#download-and-build-linux). Otherwise, if you need to manually build and install those libraries, please keep reading.

Note for Ubuntu 14.04 LTS "trusty" users: you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires gnuradio-dev >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT ```libuhd-dev```, ```gnuradio-dev``` and ```gr-osmosdr``` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS.

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4 changes: 3 additions & 1 deletion ...ibs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincos_32fc.h
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Expand Up @@ -38,7 +38,9 @@
* \b Overview
*
* VOLK_GNSSSDR kernel that computes the sine and cosine with a fixed
* phase increment \p phase_inc per sample, providing the output in a complex vector (cosine, sine)
* phase increment \p phase_inc per sample, providing the output in a complex vector (cosine, sine).
* WARNING: it is not IEEE compliant, but the max absolute error on sines is 2^-24 on the range [-8192, 8192].
* As a rule of thumb, keep initial phase + phase_inc * num_points within that range.
*
* <b>Dispatcher Prototype</b>
* \code
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4 changes: 2 additions & 2 deletions ...lk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincospuppet_32fc.h
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Expand Up @@ -87,7 +87,7 @@ static inline void volk_gnsssdr_s32f_sincospuppet_32fc_u_sse2(lv_32fc_t* out, co
static inline void volk_gnsssdr_s32f_sincospuppet_32fc_a_avx2(lv_32fc_t* out, const float phase_inc, unsigned int num_points)
{
float phase[1];
phase[0] = 3;
phase[0] = 0.1;
volk_gnsssdr_s32f_sincos_32fc_a_avx2(out, phase_inc, phase, num_points);
}
#endif /* LV_HAVE_AVX2 */
Expand All @@ -97,7 +97,7 @@ static inline void volk_gnsssdr_s32f_sincospuppet_32fc_a_avx2(lv_32fc_t* out, co
static inline void volk_gnsssdr_s32f_sincospuppet_32fc_u_avx2(lv_32fc_t* out, const float phase_inc, unsigned int num_points)
{
float phase[1];
phase[0] = 3;
phase[0] = 0.1;
volk_gnsssdr_s32f_sincos_32fc_u_avx2(out, phase_inc, phase, num_points);
}
#endif /* LV_HAVE_AVX2 */
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44 changes: 20 additions & 24 deletions src/tests/control_thread/control_thread_test.cc
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Expand Up @@ -62,19 +62,17 @@ TEST(Control_Thread_Test, InstantiateRunControlMessages)
config->set_property("SignalSource.repeat", "true");
config->set_property("SignalConditioner.implementation", "Pass_Through");
config->set_property("SignalConditioner.item_type", "gr_complex");
config->set_property("Channels_GPS.count", "2");
config->set_property("Channels_Galileo.count", "0");
config->set_property("Channels_1C.count", "2");
config->set_property("Channels_1E.count", "0");
config->set_property("Channels.in_acquisition", "1");
config->set_property("Channel.system", "GPS");
config->set_property("Channel.signal", "1C");
config->set_property("Acquisition_GPS.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_GPS.threshold", "1");
config->set_property("Acquisition_GPS.doppler_max", "5000");
config->set_property("Acquisition_GPS.doppler_min", "-5000");
config->set_property("Tracking_GPS.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
config->set_property("Tracking_GPS.item_type", "gr_complex");
config->set_property("TelemetryDecoder_GPS.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_GPS.item_type", "gr_complex");
config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_1C.threshold", "1");
config->set_property("Acquisition_1C.doppler_max", "5000");
config->set_property("Acquisition_1C.doppler_min", "-5000");
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_1C.item_type", "gr_complex");
config->set_property("Observables.implementation", "GPS_L1_CA_Observables");
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "GPS_L1_CA_PVT");
Expand Down Expand Up @@ -127,19 +125,17 @@ TEST(Control_Thread_Test, InstantiateRunControlMessages2)
config->set_property("SignalSource.repeat", "true");
config->set_property("SignalConditioner.implementation", "Pass_Through");
config->set_property("SignalConditioner.item_type", "gr_complex");
config->set_property("Channels_GPS.count", "4");
config->set_property("Channels_Galileo.count", "0");
config->set_property("Channels_1C.count", "4");
config->set_property("Channels_1E.count", "0");
config->set_property("Channels.in_acquisition", "1");
config->set_property("Channel.system", "GPS");
config->set_property("Channel.signal", "1C");
config->set_property("Acquisition_GPS.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_GPS.threshold", "1");
config->set_property("Acquisition_GPS.doppler_max", "5000");
config->set_property("Acquisition_GPS.doppler_min", "-5000");
config->set_property("Tracking_GPS.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
config->set_property("Tracking_GPS.item_type", "gr_complex");
config->set_property("TelemetryDecoder_GPS.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_GPS.item_type", "gr_complex");
config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_1C.threshold", "1");
config->set_property("Acquisition_1C.doppler_max", "5000");
config->set_property("Acquisition_1C.doppler_min", "-5000");
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
config->set_property("Tracking_1C.item_type", "gr_complex");
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("TelemetryDecoder_1C.item_type", "gr_complex");
config->set_property("Observables.implementation", "GPS_L1_CA_Observables");
config->set_property("Observables.item_type", "gr_complex");
config->set_property("PVT.implementation", "GPS_L1_CA_PVT");
Expand Down
30 changes: 6 additions & 24 deletions src/tests/flowgraph/gnss_flowgraph_test.cc
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Expand Up @@ -57,15 +57,13 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopOldNotation)
std::string filename = path + "signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat";
config->set_property("SignalSource.filename", filename);
config->set_property("SignalConditioner.implementation", "Pass_Through");
config->set_property("Channels_GPS.count", "1");
config->set_property("Channels_1C.count", "1");
config->set_property("Channels.in_acquisition", "1");
config->set_property("Channel.system", "GPS");
config->set_property("Channel.signal", "1C");
config->set_property("Acquisition_GPS.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_GPS.threshold", "1");
config->set_property("Acquisition_GPS.doppler_max", "5000");
config->set_property("Tracking_GPS.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
config->set_property("TelemetryDecoder_GPS.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_1C.threshold", "1");
config->set_property("Acquisition_1C.doppler_max", "5000");
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
config->set_property("Observables.implementation", "GPS_L1_CA_Observables");
config->set_property("PVT.implementation", "GPS_L1_CA_PVT");

Expand Down Expand Up @@ -166,22 +164,6 @@ TEST(GNSSFlowgraph, InstantiateConnectStartStopHybrid)
config->set_property("Channels_1B.count", "8");
config->set_property("Channels.in_acquisition", "1");

config->set_property("Channel0.signal", "1C");
config->set_property("Channel1.signal", "1C");
config->set_property("Channel2.signal", "1C");
config->set_property("Channel3.signal", "1C");
config->set_property("Channel4.signal", "1C");
config->set_property("Channel5.signal", "1C");
config->set_property("Channel7.signal", "1C");
config->set_property("Channel8.signal", "1B");
config->set_property("Channel9.signal", "1B");
config->set_property("Channel10.signal", "1B");
config->set_property("Channel11.signal", "1B");
config->set_property("Channel12.signal", "1B");
config->set_property("Channel13.signal", "1B");
config->set_property("Channel14.signal", "1B");
config->set_property("Channel15.signal", "1B");

config->set_property("Acquisition_1C0.implementation", "GPS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition_1C0.threshold", "1");
config->set_property("Acquisition_1C0.doppler_max", "5000");
Expand Down
101 changes: 62 additions & 39 deletions src/tests/gnss_block/galileo_e1_pcps_ambiguous_acquisition_test.cc
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Expand Up @@ -34,6 +34,7 @@
#include <cstdlib>
#include <ctime>
#include <iostream>
#include <boost/make_shared.hpp>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
Expand All @@ -50,6 +51,58 @@

#include "galileo_e1_pcps_ambiguous_acquisition.h"

// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx;

typedef boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx> GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr;

GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make();

class GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx : public gr::block
{
private:
friend GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx();

public:
int* rx_message;
~GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx(); //!< Default destructor

};

GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_make()
{
return GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx_sptr(new GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx());
}

void GalileoE1PcpsAmbiguousAcquisitionTest_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!\n";
*rx_message = 0;
}
}

GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx() :
gr::block("GalileoE1PcpsAmbiguousAcquisitionTest_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(&GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::msg_handler_events, this, _1));

}

GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx::~GalileoE1PcpsAmbiguousAcquisitionTest_msg_rx()
{}


// ###########################################################

class GalileoE1PcpsAmbiguousAcquisitionTest: public ::testing::Test
{
protected:
Expand All @@ -58,28 +111,20 @@ class GalileoE1PcpsAmbiguousAcquisitionTest: public ::testing::Test
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
stop = false;
message = 0;
gnss_synchro = Gnss_Synchro();
}

~GalileoE1PcpsAmbiguousAcquisitionTest()
{}

void init();
void start_queue();
void wait_message();
void stop_queue();

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;
bool stop;
int message;
boost::thread ch_thread;
};


Expand All @@ -104,29 +149,6 @@ void GalileoE1PcpsAmbiguousAcquisitionTest::init()
config->set_property("Acquisition1.cboc", "true");
}

void GalileoE1PcpsAmbiguousAcquisitionTest::start_queue()
{
stop = false;
ch_thread = boost::thread(&GalileoE1PcpsAmbiguousAcquisitionTest::wait_message, this);
}


void GalileoE1PcpsAmbiguousAcquisitionTest::wait_message()
{
while (!stop)
{
channel_internal_queue.wait_and_pop(message);
stop_queue();
}
}

void GalileoE1PcpsAmbiguousAcquisitionTest::stop_queue()
{
stop = true;
}



TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, Instantiate)
{
init();
Expand All @@ -142,18 +164,22 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ConnectAndRun)
struct timeval tv;
long long int begin = 0;
long long int end = 0;
int message=0;
top_block = gr::make_top_block("Acquisition test");
queue = gr::msg_queue::make(0);
init();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 1, queue);
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
boost::shared_ptr<GpsL2MPcpsAcquisitionTest_msg_rx> msg_rx = GpsL2MPcpsAcquisitionTest_msg_rx_make();
msg_rx->rx_message=&message; // set message pointer to get last acquisition message

ASSERT_NO_THROW( {
acquisition->connect(top_block);
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 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);
top_block->msg_connect(acquisition->get_right_block(),pmt::mp("events"), msg_rx,pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test." << std::endl;

EXPECT_NO_THROW( {
Expand All @@ -172,13 +198,16 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ValidationOfResults)
struct timeval tv;
long long int begin = 0;
long long int end = 0;
int message=0;
double expected_delay_samples = 2920; //18250;
double expected_doppler_hz = -632;
init();
top_block = gr::make_top_block("Acquisition test");
queue = gr::msg_queue::make(0);
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 1, queue);
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisition> acquisition = std::dynamic_pointer_cast<GalileoE1PcpsAmbiguousAcquisition>(acq_);
boost::shared_ptr<GpsL2MPcpsAcquisitionTest_msg_rx> msg_rx = GpsL2MPcpsAcquisitionTest_msg_rx_make();
msg_rx->rx_message=&message; // set message pointer to get last acquisition message

ASSERT_NO_THROW( {
acquisition->set_channel(gnss_synchro.Channel_ID);
Expand Down Expand Up @@ -210,12 +239,9 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ValidationOfResults)
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);
top_block->connect(file_source, 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." << std::endl;

ASSERT_NO_THROW( {
start_queue();
}) << "Failure while starting the queue" << std::endl;

acquisition->init();
acquisition->reset();
acquisition->set_state(1);
Expand All @@ -227,11 +253,10 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ValidationOfResults)
gettimeofday(&tv, NULL);
end = tv.tv_sec * 1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
stop_queue();

unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
std::cout << "Acquired " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
ASSERT_EQ(1, *(msg_rx->rx_message)) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";

std::cout << "Delay: " << gnss_synchro.Acq_delay_samples << std::endl;
std::cout << "Doppler: " << gnss_synchro.Acq_doppler_hz << std::endl;
Expand All @@ -242,7 +267,5 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ValidationOfResults)

EXPECT_LE(doppler_error_hz, 166) << "Doppler error exceeds the expected value: 166 Hz = 2/(3*integration period)";
EXPECT_LT(delay_error_chips, 0.175) << "Delay error exceeds the expected value: 0.175 chips";

ch_thread.join();
}

2 changes: 1 addition & 1 deletion src/tests/gnss_block/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@
#include "pass_through.h"

#include "gnss_block_factory.h"

z
class GalileoE5aPcpsAcquisitionGSoC2014GensourceTest: public ::testing::Test
{
protected:
Expand Down
10 changes: 5 additions & 5 deletions src/tests/gnss_block/gnss_block_factory_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -285,13 +285,13 @@ TEST(GNSS_Block_Factory_Test, InstantiateGpsL1CaTelemetryDecoder)
TEST(GNSS_Block_Factory_Test, InstantiateChannels)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
configuration->set_property("Channels_GPS.count", "2");
configuration->set_property("Channels_Galileo.count", "0");
configuration->set_property("Channels_1C.count", "2");
configuration->set_property("Channels_1E.count", "0");
configuration->set_property("Channels.in_acquisition", "2");
configuration->set_property("Tracking_GPS.implementation","GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
configuration->set_property("TelemetryDecoder_GPS.implementation","GPS_L1_CA_Telemetry_Decoder");
configuration->set_property("Tracking_1C.implementation","GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
configuration->set_property("TelemetryDecoder_1C.implementation","GPS_L1_CA_Telemetry_Decoder");
configuration->set_property("Channel0.item_type", "gr_complex");
configuration->set_property("Acquisition_GPS.implementation", "GPS_L1_CA_PCPS_Acquisition");
configuration->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
configuration->set_property("Channel1.item_type", "gr_complex");
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
std::unique_ptr<GNSSBlockFactory> factory;
Expand Down
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