galileo_e6_has_msg_receiver.h

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/*!
 * \file galileo_e6_has_msg_receiver.h
 * \brief GNU Radio block that processes Galileo HAS message pages received from
 * Galileo E6B telemetry blocks. After successful decoding, sends the content to
 * the PVT block.
 * \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
 * \author Javier Arribas, 2021. jarribas(at)cttc.es
 *
 * -----------------------------------------------------------------------------
 *
 * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
 * This file is part of GNSS-SDR.
 *
 * Copyright (C) 2010-2021  (see AUTHORS file for a list of contributors)
 * SPDX-License-Identifier: GPL-3.0-or-later
 *
 * -----------------------------------------------------------------------------
 */

#ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
#define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H

#include "Galileo_CNAV.h"          // for GALILEO_CNAV_*  constants
#include "galileo_has_data.h"      // for Galileo_HAS_data
#include "gnss_block_interface.h"  // for gnss_shared_ptr
#include "nav_message_packet.h"    // for Nav_Message_Packet
#include <gnuradio/block.h>        // for gr::block
#include <pmt/pmt.h>               // for pmt::pmt_t
#include <bitset>
#include <cstdint>
#include <map>
#include <memory>  // for std::unique_ptr
#include <string>
#include <utility>  // std::pair
#include <vector>

/** \addtogroup Core
 * \{ */
/** \addtogroup Core_Receiver_Library
 * \{ */

class Galileo_HAS_page;
class ReedSolomon;
class galileo_e6_has_msg_receiver;

using galileo_e6_has_msg_receiver_sptr = gnss_shared_ptr<galileo_e6_has_msg_receiver>;

galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();

/*!
 * \brief GNU Radio block that receives asynchronous Galileo HAS message pages
 * from the telemetry blocks, stores them in memory, and decodes HAS messages
 * when enough data have been received.
 * The decoded HAS message is sent to the PVT block.
 */
class galileo_e6_has_msg_receiver : public gr::block
{
public:
    ~galileo_e6_has_msg_receiver() = default;  //!< Default destructor
    void set_enable_navdata_monitor(bool enable);
    std::shared_ptr<Galileo_HAS_data> process_test_page(const pmt::pmt_t& msg);  //!< For testing purposes only

private:
    friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
    galileo_e6_has_msg_receiver();

    void msg_handler_galileo_e6_has(const pmt::pmt_t& msg);
    void process_HAS_page(const Galileo_HAS_page& has_page);
    void read_MT1_header(const std::string& message_header);
    void read_MT1_body(const std::string& message_body);
    void delete_outdated_data(const Galileo_HAS_page& has_page);

    int decode_message_type1(uint8_t message_id, uint8_t message_size);

    uint16_t read_has_message_header_parameter_uint16(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
    uint8_t read_has_message_header_parameter_uint8(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
    bool read_has_message_header_parameter_bool(const std::bitset<GALILEO_CNAV_MT1_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;

    uint64_t read_has_message_body_uint64(const std::string& bits) const;
    uint16_t read_has_message_body_uint16(const std::string& bits) const;
    int16_t read_has_message_body_int16(const std::string& bits) const;
    uint8_t read_has_message_body_uint8(const std::string& bits) const;

    template <class T>
    std::string debug_print_vector(const std::string& title, const std::vector<T>& vec) const;  // only for debug purposes

    template <class T>
    std::string debug_print_matrix(const std::string& title, const std::vector<std::vector<T>>& mat) const;  // only for debug purposes

    std::unique_ptr<ReedSolomon> d_rs;
    Galileo_HAS_data d_HAS_data{};
    Nav_Message_Packet d_nav_msg_packet;

    // Store decoding matrices and received PIDs
    std::vector<std::vector<uint64_t>> d_received_timestamps;
    std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix;
    std::vector<std::vector<uint8_t>> d_M_matrix;
    std::vector<std::vector<uint8_t>> d_received_pids;
    std::vector<uint64_t> d_printed_timestamps;
    std::vector<bool> d_printed_mids;

    // Store masks
    std::vector<int> d_nsat_in_mask_id;
    std::vector<std::vector<uint8_t>> d_gnss_id_in_mask;
    std::vector<std::vector<uint64_t>> d_satellite_mask;
    std::vector<std::vector<uint16_t>> d_signal_mask;
    std::vector<std::vector<bool>> d_cell_mask_availability_flag;
    std::vector<std::vector<std::vector<std::vector<bool>>>> d_cell_mask;
    std::vector<uint8_t> d_nsys_in_mask;
    std::vector<std::vector<uint8_t>> d_nav_message_mask;

    std::map<std::pair<uint8_t, uint8_t>, std::vector<uint16_t>> d_iod_ref_map;

    uint8_t d_current_has_status{};
    uint8_t d_current_message_id{};
    bool d_new_message{};
    bool d_enable_navdata_monitor{};
};


/** \} */
/** \} */
#endif  // GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H