add config save and load
This commit is contained in:
parent
67d623638d
commit
ced2785a3a
22
gnss-sim.pro
22
gnss-sim.pro
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@ -1,28 +1,40 @@
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QT += core gui
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greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
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greaterThan(QT_MAJOR_VERSION, 4): QT += widgets concurrent
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CONFIG += c++17
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msvc{
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QMAKE_CFLAGS += /utf-8
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QMAKE_CXXFLAGS += /utf-8
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}
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# You can make your code fail to compile if it uses deprecated APIs.
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# In order to do so, uncomment the following line.
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#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
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INCLUDEPATH += \
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$$PWD/3rdparty/uhd/include
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$$PWD/3rdparty/uhd/include \
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$$PWD/3rdparty/
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SOURCES += \
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gpssim.c \
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main.cpp \
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mainwindow.cpp
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mainwindow.cpp \
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uhd_device.cpp \
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workThread.cpp
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HEADERS += \
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mainwindow.h
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gpssim.h \
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mainwindow.h \
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uhd_device.h \
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workThread.h
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FORMS += \
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mainwindow.ui
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win32{
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LIBS += -L$$PWD/3rdparty/uhd/lib -luhd
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LIBS += -L$$PWD/3rdparty/uhd/lib -luhd -L$$PWD/3rdparty/lib64-msvc-14.3 -llibboost_thread-vc143-mt-gd-x64-1_86
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}
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# Default rules for deployment.
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@ -0,0 +1,187 @@
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#ifndef GPSSIM_H
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#define GPSSIM_H
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//#define FLOAT_CARR_PHASE // For RKT simulation. Higher computational load, but smoother carrier phase.
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#define TRUE (1)
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#define FALSE (0)
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/*! \brief Maximum length of a line in a text file (RINEX, motion) */
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#define MAX_CHAR (100)
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/*! \brief Maximum number of satellites in RINEX file */
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#define MAX_SAT (32)
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/*! \brief Maximum number of channels we simulate */
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#define MAX_CHAN (16)
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/*! \brief Maximum number of user motion points */
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#ifndef USER_MOTION_SIZE
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#define USER_MOTION_SIZE (3000) // max duration at 10Hz
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#endif
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/*! \brief Maximum duration for static mode*/
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#define STATIC_MAX_DURATION (86400) // second
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/*! \brief Number of subframes */
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#define N_SBF (5) // 5 subframes per frame
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/*! \brief Number of words per subframe */
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#define N_DWRD_SBF (10) // 10 word per subframe
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/*! \brief Number of words */
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#define N_DWRD ((N_SBF+1)*N_DWRD_SBF) // Subframe word buffer size
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/*! \brief C/A code sequence length */
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#define CA_SEQ_LEN (1023)
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#define SECONDS_IN_WEEK 604800.0
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#define SECONDS_IN_HALF_WEEK 302400.0
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#define SECONDS_IN_DAY 86400.0
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#define SECONDS_IN_HOUR 3600.0
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#define SECONDS_IN_MINUTE 60.0
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#define POW2_M5 0.03125
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#define POW2_M19 1.907348632812500e-6
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#define POW2_M29 1.862645149230957e-9
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#define POW2_M31 4.656612873077393e-10
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#define POW2_M33 1.164153218269348e-10
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#define POW2_M43 1.136868377216160e-13
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#define POW2_M55 2.775557561562891e-17
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#define POW2_M50 8.881784197001252e-016
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#define POW2_M30 9.313225746154785e-010
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#define POW2_M27 7.450580596923828e-009
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#define POW2_M24 5.960464477539063e-008
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// Conventional values employed in GPS ephemeris model (ICD-GPS-200)
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#define GM_EARTH 3.986005e14
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#define OMEGA_EARTH 7.2921151467e-5
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#define PI 3.1415926535898
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#define WGS84_RADIUS 6378137.0
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#define WGS84_ECCENTRICITY 0.0818191908426
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#define R2D 57.2957795131
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#define SPEED_OF_LIGHT 2.99792458e8
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#define LAMBDA_L1 0.190293672798365
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/*! \brief GPS L1 Carrier frequency */
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#define CARR_FREQ (1575.42e6)
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/*! \brief C/A code frequency */
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#define CODE_FREQ (1.023e6)
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#define CARR_TO_CODE (1.0/1540.0)
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// Sampling data format
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#define SC01 (1)
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#define SC08 (8)
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#define SC16 (16)
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#define EPHEM_ARRAY_SIZE (15) // for daily GPS broadcast ephemers file (brdc)
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/*! \brief Structure representing GPS time */
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typedef struct
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{
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int week; /*!< GPS week number (since January 1980) */
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double sec; /*!< second inside the GPS \a week */
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} gpstime_t;
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/*! \brief Structure repreenting UTC time */
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typedef struct
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{
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int y; /*!< Calendar year */
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int m; /*!< Calendar month */
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int d; /*!< Calendar day */
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int hh; /*!< Calendar hour */
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int mm; /*!< Calendar minutes */
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double sec; /*!< Calendar seconds */
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} datetime_t;
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/*! \brief Structure representing ephemeris of a single satellite */
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typedef struct
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{
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int vflg; /*!< Valid Flag */
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datetime_t t;
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gpstime_t toc; /*!< Time of Clock */
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gpstime_t toe; /*!< Time of Ephemeris */
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int iodc; /*!< Issue of Data, Clock */
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int iode; /*!< Isuse of Data, Ephemeris */
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double deltan; /*!< Delta-N (radians/sec) */
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double cuc; /*!< Cuc (radians) */
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double cus; /*!< Cus (radians) */
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double cic; /*!< Correction to inclination cos (radians) */
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double cis; /*!< Correction to inclination sin (radians) */
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double crc; /*!< Correction to radius cos (meters) */
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double crs; /*!< Correction to radius sin (meters) */
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double ecc; /*!< e Eccentricity */
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double sqrta; /*!< sqrt(A) (sqrt(m)) */
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double m0; /*!< Mean anamoly (radians) */
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double omg0; /*!< Longitude of the ascending node (radians) */
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double inc0; /*!< Inclination (radians) */
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double aop;
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double omgdot; /*!< Omega dot (radians/s) */
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double idot; /*!< IDOT (radians/s) */
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double af0; /*!< Clock offset (seconds) */
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double af1; /*!< rate (sec/sec) */
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double af2; /*!< acceleration (sec/sec^2) */
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double tgd; /*!< Group delay L2 bias */
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int svhlth;
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int codeL2;
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// Working variables follow
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double n; /*!< Mean motion (Average angular velocity) */
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double sq1e2; /*!< sqrt(1-e^2) */
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double A; /*!< Semi-major axis */
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double omgkdot; /*!< OmegaDot-OmegaEdot */
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} ephem_t;
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typedef struct
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{
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int enable;
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int vflg;
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double alpha0,alpha1,alpha2,alpha3;
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double beta0,beta1,beta2,beta3;
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double A0,A1;
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int dtls,tot,wnt;
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int dtlsf,dn,wnlsf;
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// enable custom leap event
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int leapen;
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} ionoutc_t;
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typedef struct
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{
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gpstime_t g;
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double range; // pseudorange
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double rate;
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double d; // geometric distance
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double azel[2];
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double iono_delay;
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} range_t;
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/*! \brief Structure representing a Channel */
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typedef struct
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{
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int prn; /*< PRN Number */
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int ca[CA_SEQ_LEN]; /*< C/A Sequence */
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double f_carr; /*< Carrier frequency */
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double f_code; /*< Code frequency */
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#ifdef FLOAT_CARR_PHASE
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double carr_phase;
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#else
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unsigned int carr_phase; /*< Carrier phase */
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int carr_phasestep; /*< Carrier phasestep */
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#endif
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double code_phase; /*< Code phase */
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gpstime_t g0; /*!< GPS time at start */
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unsigned long sbf[5][N_DWRD_SBF]; /*!< current subframe */
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unsigned long dwrd[N_DWRD]; /*!< Data words of sub-frame */
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int iword; /*!< initial word */
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int ibit; /*!< initial bit */
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int icode; /*!< initial code */
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int dataBit; /*!< current data bit */
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int codeCA; /*!< current C/A code */
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double azel[2];
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range_t rho0;
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} channel_t;
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#endif
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138
mainwindow.cpp
138
mainwindow.cpp
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#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include "uhd_device.h"
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#include <QMessageBox>
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#include <QFile>
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#include <QFileDialog>
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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@ -7,9 +11,143 @@ MainWindow::MainWindow(QWidget *parent)
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{
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ui->setupUi(this);
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this->setWindowTitle(tr("gnss sim V1.0"));
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psettings = new QSettings("settings.ini", QSettings::IniFormat);
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loadSetting();
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}
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MainWindow::~MainWindow()
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{
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saveSetting();
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psettings->sync();
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delete ui;
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}
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void MainWindow::on_pushButton_start_clicked()
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{
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if(ui->lineEdit_gpsfile->text().length() == 0)
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{
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QMessageBox::warning(NULL,tr("星历文件错误"),tr("请设置星历文件"),QMessageBox::Ok,QMessageBox::Ok);
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return;
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}
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if(!QFile(ui->lineEdit_gpsfile->text()).exists())
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{
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QMessageBox::warning(NULL, tr("星历文件路径错误"), tr("没有这个文件，请确认路径是否正确。"), QMessageBox::Ok, QMessageBox::Ok);
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return;
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}
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if(ui->lineEdit_motionfile->text().length() == 0)
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{
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QMessageBox::warning(NULL, tr("轨迹文件错误"), tr("请设置轨迹文件。"), QMessageBox::Ok, QMessageBox::Ok);
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return;
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}
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if(!QFile(ui->lineEdit_motionfile->text()).exists())
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{
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QMessageBox::warning(NULL, tr("轨迹文件路径错误"), tr("没有这个文件，请确认路径是否正确。"), QMessageBox::Ok, QMessageBox::Ok);
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return;
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}
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if(ui->lineEdit_gain->text().length() == 0)
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{
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QMessageBox::warning(NULL, tr("增益错误"), tr("请设置增益。"), QMessageBox::Ok, QMessageBox::Ok);
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return;
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}
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float radio_gain = ui->lineEdit_gain->text().toFloat();
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workThread.setGain(radio_gain);
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workThread.setNavFilePath(ui->lineEdit_gpsfile->text());
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workThread.setUmfile(ui->lineEdit_motionfile->text());
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if(ui->lineEdit_motionfile->text().endsWith(".csv")){
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workThread.useNmeaGGA(0);
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}else{
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workThread.useNmeaGGA(1);
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}
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if(ui->checkBox_currentTime->isChecked()){
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workThread.useCurrentTime(true);
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}else{
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workThread.useCurrentTime(false);
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}
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workThread.start();
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}
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void MainWindow::on_pushButton_stop_clicked()
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{
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workThread.stop();
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}
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void MainWindow::on_pushButton_browsegps_clicked()
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{
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QString path = ui->lineEdit_gpsfile->text();
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QString fileName = QFileDialog::getOpenFileName(
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this,
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"",
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path,
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"(brdc*)");
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if (!fileName.isEmpty()) {
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ui->lineEdit_gpsfile->setText(fileName);
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}
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}
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void MainWindow::on_pushButton_browsemotion_clicked()
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{
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QString path = ui->lineEdit_motionfile->text();
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QString fileName = QFileDialog::getOpenFileName(
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this,
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"",
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path,
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"*.csv *.txt");
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if (!fileName.isEmpty()) {
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ui->lineEdit_motionfile->setText(fileName);
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}
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}
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void MainWindow::loadSetting()
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{
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QDir dir = QDir::current();
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QStringList files;
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if(psettings->contains("/setting/gps_file"))
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{
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QVariant gpsfile = psettings->value("/setting/gps_file");
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ui->lineEdit_gpsfile->setText(gpsfile.toString());
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}
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if(psettings->contains("/setting/motion_file"))
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{
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QVariant motionfile = psettings->value("/setting/motion_file");
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ui->lineEdit_motionfile->setText(motionfile.toString());
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}
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if(psettings->contains("/setting/radio_gain"))
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{
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QVariant radio_gain = psettings->value("/setting/radio_gain");
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ui->lineEdit_gain->setText(radio_gain.toString());
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}
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if(psettings->contains("/setting/use_timenow"))
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{
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bool ok;
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QVariant external_clock = psettings->value("/setting/use_timenow");
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int val = external_clock.toInt(&ok);
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if(ok && val == 1){
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ui->checkBox_currentTime->setCheckState(Qt::Checked);
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}else{
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ui->checkBox_currentTime->setCheckState(Qt::Unchecked);
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}
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}
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}
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void MainWindow::saveSetting()
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{
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int val;
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psettings->setValue("/setting/gps_file", ui->lineEdit_gpsfile->text());
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psettings->setValue("/setting/motion_file", ui->lineEdit_motionfile->text());
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psettings->setValue("/setting/radio_gain", ui->lineEdit_gain->text());
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if(ui->checkBox_currentTime->isChecked()){
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val = 1;
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}else{
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val = 0;
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}
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psettings->setValue("/setting/use_timenow", val);
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}
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12
mainwindow.h
12
mainwindow.h
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@ -2,6 +2,8 @@
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#define MAINWINDOW_H
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#include <QMainWindow>
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#include "workThread.h"
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#include <QSettings>
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QT_BEGIN_NAMESPACE
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namespace Ui {
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@ -17,7 +19,17 @@ public:
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MainWindow(QWidget *parent = nullptr);
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~MainWindow();
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private slots:
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void on_pushButton_start_clicked();
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void on_pushButton_stop_clicked();
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void on_pushButton_browsegps_clicked();
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void on_pushButton_browsemotion_clicked();
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private:
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Ui::MainWindow *ui;
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WorkThread workThread;
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QSettings *psettings;
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void loadSetting();
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void saveSetting();
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};
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#endif // MAINWINDOW_H
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#include "uhd_device.h"
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#include <uhd/types/tune_request.hpp>
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#include <uhd/usrp/multi_usrp.hpp>
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#include <uhd/utils/safe_main.hpp>
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#include <uhd/utils/thread.hpp>
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#include <uhd/exception.hpp>
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#include <QEventLoop>
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#include <QTimer>
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static uhd::usrp::multi_usrp::sptr usrp = nullptr;
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static uhd::tx_streamer::sptr tx_stream;
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bool start;
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int init_device(double rate, double freq, double gain)
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{
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try {
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usrp = uhd::usrp::multi_usrp::make("master_clock_rate=52e6");
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} catch (uhd::key_error e) {
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std::cout<<e.what()<<std::endl;
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}
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if(!usrp){
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return false;
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}
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printf("Using Device: %s\n",usrp->get_pp_string().c_str());
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printf("Setting TX Rate: %f Msps...\n",rate/1e6);
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usrp->set_tx_rate(rate);
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printf("Actual TX Rate: %f Msps...\n",usrp->get_tx_rate()/1e6);
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double lo_offset = 0.0;
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printf("Setting TX LO Offset: %f MHz...\n",lo_offset/1e6);
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uhd::tune_request_t tune_request;
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tune_request = uhd::tune_request_t(freq, lo_offset);
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usrp->set_tx_freq(tune_request);
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printf("Actual TX Freq: %f MHz...\n",usrp->get_tx_freq() / 1e6);
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// set the rf gain
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printf("Setting TX Gain: %f dB...\n",gain);
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usrp->set_tx_gain(gain);
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printf("Actual TX Gain: %f dB...\n",usrp->get_tx_gain());
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QEventLoop loop;
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QTimer::singleShot(1000,&loop,SLOT(quit()));
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loop.exec();
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std::vector<std::string> sensor_names;
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sensor_names = usrp->get_tx_sensor_names(0);
|
||||
if (std::find(sensor_names.begin(), sensor_names.end(), "lo_locked")
|
||||
!= sensor_names.end()) {
|
||||
uhd::sensor_value_t lo_locked = usrp->get_tx_sensor("lo_locked", 0);
|
||||
printf("Checking TX: %s ...\n",lo_locked.to_pp_string().c_str());
|
||||
UHD_ASSERT_THROW(lo_locked.to_bool());
|
||||
}
|
||||
|
||||
// create a transmit streamer
|
||||
std::string cpu_format = "sc16";
|
||||
std::vector<size_t> channel_nums;
|
||||
std::string wirefmt = "sc16";
|
||||
uhd::stream_args_t stream_args(cpu_format, wirefmt);
|
||||
channel_nums.push_back(0);
|
||||
stream_args.channels = channel_nums;
|
||||
tx_stream = usrp->get_tx_stream(stream_args);
|
||||
start = true;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int device_transmit(short* sample, size_t samps_count)
|
||||
{
|
||||
uhd::tx_metadata_t md;
|
||||
md.start_of_burst = start;
|
||||
if(start)
|
||||
start = false;
|
||||
md.end_of_burst = false;
|
||||
|
||||
return tx_stream->send(sample, samps_count, md);
|
||||
}
|
||||
|
||||
void close_device()
|
||||
{
|
||||
if(usrp){
|
||||
usrp.reset();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef UHD_DEVICE_H
|
||||
#define UHD_DEVICE_H
|
||||
|
||||
int init_device(double rate,double freq,double gain);
|
||||
void close_device();
|
||||
int device_transmit(short* sample, size_t samps_count);
|
||||
|
||||
#endif // UHD_DEVICE_H
|
||||
|
|
@ -0,0 +1,115 @@
|
|||
#include "workThread.h"
|
||||
#include "uhd_device.h"
|
||||
#include "gpssim.h"
|
||||
#include <uhd/utils/thread.hpp>
|
||||
#include <QtConcurrent/QtConcurrent>
|
||||
#include <QMessageBox>
|
||||
#include <QDebug>
|
||||
|
||||
WorkThread::WorkThread()
|
||||
{
|
||||
read_buff_pos = 0;
|
||||
write_buff_pos = 0;
|
||||
iq_buff_size = 260000;
|
||||
for (int i=0; i<BUFFER_COUNT; i++) {
|
||||
sample_buffers[i].buff_ptr = (short*)calloc(2 * iq_buff_size, 2);
|
||||
|
||||
if (sample_buffers[i].buff_ptr==NULL)
|
||||
{
|
||||
fprintf(stderr, "ERROR: Faild to allocate 16-bit I/Q buffer.\n");
|
||||
exit(1);
|
||||
}else{
|
||||
sample_buffers[i].full = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
WorkThread::~WorkThread()
|
||||
{
|
||||
for (int i=0; i<BUFFER_COUNT; i++) {
|
||||
if (sample_buffers[i].buff_ptr!=NULL)
|
||||
{
|
||||
free(sample_buffers[i].buff_ptr);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void WorkThread::transmit()
|
||||
{
|
||||
uhd::set_thread_priority_safe();
|
||||
|
||||
while(1)
|
||||
{
|
||||
if(bstop){
|
||||
break;
|
||||
}
|
||||
|
||||
if(sample_buffers[read_buff_pos].full)
|
||||
{
|
||||
int size = device_transmit(sample_buffers[read_buff_pos].buff_ptr, iq_buff_size);
|
||||
qDebug()<<"tx size:"<<size;
|
||||
sample_buffers[read_buff_pos].full=0;
|
||||
read_buff_pos=(read_buff_pos+1) % BUFFER_COUNT;
|
||||
wait_buffer_empty.wakeAll();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void WorkThread::stop()
|
||||
{
|
||||
bstop = true;
|
||||
wait_buffer_empty.wakeAll();
|
||||
}
|
||||
|
||||
void WorkThread::setGain(int g)
|
||||
{
|
||||
gain = g;
|
||||
}
|
||||
|
||||
void WorkThread::setNavFilePath(QString path)
|
||||
{
|
||||
navfile = path;
|
||||
}
|
||||
|
||||
void WorkThread::setUmfile(QString path)
|
||||
{
|
||||
umfile = path;
|
||||
}
|
||||
|
||||
void WorkThread::useNmeaGGA(int use)
|
||||
{
|
||||
nmeaGGA = use;
|
||||
}
|
||||
|
||||
void WorkThread::useCurrentTime(int use)
|
||||
{
|
||||
useCurTime = use;
|
||||
}
|
||||
|
||||
void WorkThread::run()
|
||||
{
|
||||
if(!init_device(2.6e6, 1575420000, gain))
|
||||
{
|
||||
QMessageBox::warning(NULL, tr("警告"), tr("设备初始化失败！"), QMessageBox::Ok, QMessageBox::Ok);
|
||||
bstop = true;
|
||||
return;
|
||||
}
|
||||
|
||||
bstop = false;
|
||||
read_buff_pos=0;
|
||||
write_buff_pos=0;
|
||||
for (int i=0; i<BUFFER_COUNT; i++) {
|
||||
sample_buffers[i].full = 0;
|
||||
}
|
||||
QFuture<void> future = QtConcurrent::run(this,&WorkThread::transmit);
|
||||
|
||||
/*while(!bstop){
|
||||
m_lock.lock();
|
||||
wait_buffer_empty.wait(&m_lock);
|
||||
read_buff_pos++;
|
||||
m_lock.unlock();
|
||||
}*/
|
||||
|
||||
future.waitForFinished();
|
||||
close_device();
|
||||
}
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
#ifndef WORKTHREAD_H
|
||||
#define WORKTHREAD_H
|
||||
|
||||
#include <QThread>
|
||||
#include <QMutex>
|
||||
#include <QWaitCondition>
|
||||
|
||||
#define BUFFER_COUNT 32
|
||||
|
||||
typedef struct
|
||||
{
|
||||
short* buff_ptr;
|
||||
volatile int full;
|
||||
}sample_buffer_t;
|
||||
|
||||
class WorkThread : public QThread
|
||||
{
|
||||
Q_OBJECT
|
||||
public:
|
||||
WorkThread();
|
||||
~WorkThread();
|
||||
void run() override;
|
||||
void transmit();
|
||||
void stop();
|
||||
void setGain(int g);
|
||||
void setNavFilePath(QString path);
|
||||
void setUmfile(QString path);
|
||||
void useNmeaGGA(int use);
|
||||
void useCurrentTime(int use);
|
||||
private:
|
||||
int read_buff_pos=0;
|
||||
int write_buff_pos=0;
|
||||
int iq_buff_size=260000;
|
||||
bool bstop = true;
|
||||
QMutex m_lock;
|
||||
QWaitCondition wait_buffer_empty;
|
||||
sample_buffer_t sample_buffers[BUFFER_COUNT];
|
||||
QString navfile;
|
||||
QString umfile;
|
||||
int gain=0;
|
||||
int nmeaGGA;
|
||||
bool useCurTime;
|
||||
};
|
||||
|
||||
#endif // WORKTHREAD_H
|
||||
Loading…
Reference in New Issue