EngEphemeris_T.cpp
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38 
39 #include "EngEphemeris.hpp"
40 #include "TestUtil.hpp"
41 #include "GPSWeekZcount.hpp"
42 #include <iostream>
43 #include <sstream>
44 using namespace gnsstk;
45 
46 #ifdef _MSC_VER
47 #define LDEXP(x,y) ldexp(x,y)
48 #else
49 #define LDEXP(x,y) std::ldexp(x,y)
50 #endif
51 
52 
59 const uint32_t ephEOW[] =
60 { 583228942, 824945128, 904134685, 184026330, 459310087,
61  16899638, 845363969, 0x0f647980, 4193148, 1073290676,
62  583228942, 824953464, 260012308, 225364840, 787693093,
63  1065730353, 298759921, 46377054, 57870868, 8172,
64  583228942, 824962032, 1072401983, 485782594, 84477,
65  301605863, 145566781, 506082625, 1072230894, 259901040 };
66 /* original data as broadcast
67 { 583228942, 824945128, 904134685, 184026330, 459310087,
68  16899638, 845363969, 255852580, 4193148, 1073290676,
69  583228942, 824953464, 260012308, 225364840, 787693093,
70  1065730353, 298759921, 46377054, 57870868, 8172,
71  583228942, 824962032, 1072401983, 485782594, 84477,
72  301605863, 145566781, 506082625, 1072230894, 259901040 };
73 */
74 const unsigned ephEOWwk = 1886;
75 const unsigned ephEOWToeWk = 1887;
76 const unsigned ephEOWprn = 14;
77 // the rest of these values were broken out by hand
78 const CommonTime ephEOWhowTime1 = GPSWeekZcount(ephEOWwk, 402804);
79 const CommonTime ephEOWhowTime2 = GPSWeekZcount(ephEOWwk, 402808);
80 const CommonTime ephEOWhowTime3 = GPSWeekZcount(ephEOWwk, 402812);
81 const long ephEOWhowSec1 = 604206;
82 const long ephEOWhowSec2 = 604212;
83 const long ephEOWhowSec3 = 604218;
84 const CommonTime ephEOWxmitTime1 = ephEOWhowTime1 - 6;
85 const CommonTime ephEOWxmitTime2 = ephEOWhowTime2 - 6;
86 const CommonTime ephEOWxmitTime3 = ephEOWhowTime3 - 6;
87 const double ephEOWxmitTimeSec1 = GPSWeekSecond(ephEOWxmitTime1).sow;
88 const double ephEOWtocSec = 597600;
89 const long ephEOWtocZ = 398400;
90 const CommonTime ephEOWtoc = GPSWeekZcount(ephEOWwk, ephEOWtocZ);
91 // as-broadcast
92 //const CommonTime ephEOWtoc = GPSWeekZcount(ephEOWwk+1, 0);
93 const double ephEOWaf0 = LDEXP(double( int32_t(0xfffff91d)), -31);
94 const double ephEOWaf1 = LDEXP(double( int16_t(0xffed)), -43);
95 const double ephEOWaf2 = 0.;
96 const double ephEOWiode = 61.;
97 const double ephEOWCrs = LDEXP(double( int16_t(0xfde4)), -5);
98 const double ephEOWdn = LDEXP(double( int16_t(0x35bb)), -43) * PI;
99 const double ephEOWM0 = LDEXP(double( int32_t(0x2dbbccf8)), -31) * PI;
100 const double ephEOWCuc = LDEXP(double( int16_t(0xfe17)), -29);
101 const double ephEOWecc = LDEXP(double(uint32_t(0x04473adb)), -33);
102 const double ephEOWCus = LDEXP(double( int16_t(0x0b0e)), -29);
103 const double ephEOWAhalf = LDEXP(double(uint32_t(0xa10dcc28)), -19);
104 const double ephEOWToe = 0.; //LDEXP(double(uint16_t()),4);
105 const CommonTime ephEOWtoe = GPSWeekSecond(ephEOWToeWk, ephEOWToe);
106 const double ephEOWCic = LDEXP(double( int16_t(0xffae)), -29);
107 const double ephEOWOMEGA0 = LDEXP(double( int32_t(0x3873d1d1)), -31) * PI;
108 const double ephEOWCis = LDEXP(double( int16_t(0x0005)), -29);
109 const double ephEOWi0 = LDEXP(double( int32_t(0x2747e88f)), -31) * PI;
110 const double ephEOWCrc = LDEXP(double( int16_t(0x22b4)), -5);
111 const double ephEOWw = LDEXP(double( int32_t(0xb078a8d5)), -31) * PI;
112 const double ephEOWOMEGAdot = LDEXP(double( int32_t(0xffffa3c7)), -43) * PI;
113 const double ephEOWidot = LDEXP(double( int16_t(0xfdc6)), -43) * PI;
114 const double ephEOWTgd = LDEXP(double( int8_t(0xec)), -31);
115 const short ephEOWcodeflgs = 1;
116 const short ephEOWl2pData = 0;
117 const short ephEOWhealth = 0;
118 const double ephEOWiodc = 0x03d;
119 // URA index = 0, worst case 2.4m 20.3.3.3.1.3
120 const double ephEOWacc = 2.4;
121 // fit interval *flag*
122 const double ephEOWfitint = 0;
123 
124 
125 class EngEphemeris_T
126 {
127 public:
129  EngEphemeris_T()
130  {
131  eps = 1E-12;
132  b10 = 10;
133  }
134 
135  ~EngEphemeris_T() {}
136 
141  gnsstk::EngEphemeris fakeEphemerisInit(void)
142  {
143  gnsstk::EngEphemeris fakeEphemeris;
144 
145  // array 30 bit words all set to one, an invalid
146  // subframe. Word 2 is different, contains SF id
147  const uint32_t data1[10] =
148  { 0x22FFFFFF, 0x3FFFF930, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF,
149  0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF };
150  const uint32_t data2[10] =
151  { 0x22FFFFFF, 0x3FFFFA88, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF,
152  0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF };
153  const uint32_t data3[10] =
154  { 0x22FFFFFF, 0x3FFFFBD0, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF,
155  0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF, 0x3FFFFFFF };
156 
157  fakeEphemeris.haveSubframe[0] = true;
158  fakeEphemeris.haveSubframe[1] = true;
159  fakeEphemeris.haveSubframe[2] = true;
160  for (int i=0; i<10; ++i) fakeEphemeris.subframeStore[0][i] = data1[i];
161  for (int i=0; i<10; ++i) fakeEphemeris.subframeStore[1][i] = data2[i];
162  for (int i=0; i<10; ++i) fakeEphemeris.subframeStore[2][i] = data3[i];
163 
164  return fakeEphemeris;
165  }
166 
167 //=======================================================================
168 // The following 3 methods are used to see if the data specificly set for
169 // each subframe was set correctly
170 //
171 // Data can be stored in EngEphemeris in multiple ways. This ensures
172 // the method of storing data was successful
173 //
174 // Doesn't test any of the data stored in the orbit or clock objects
175 //=======================================================================
176 
177  void subframe1Check(gnsstk::EngEphemeris dataStore,
178  gnsstk::TestUtil& testFramework,
179  bool skipASAlert = false)
180  {
181  TUASSERT(dataStore.haveSubframe[0]);
182  TUASSERTE(unsigned short, 0, dataStore.tlm_message[0]);
183  TUASSERTE(short, 6, dataStore.PRNID);
184  TUASSERTE(short, 1, dataStore.tracker);
185 
186  // ASAlert is set to 1 by that addIncompleteSF1Thru3, so
187  // bypassing the ASAlerts test only for that function HOWTime
188  // is not set by this function either
189  if (!skipASAlert)
190  {
191  TUASSERTE(short, 0, dataStore.ASalert[0]);
192  TUASSERTE(long, 409902, dataStore.HOWtime[0]);
193  }
194 
195  TUASSERTE(short, 1025, dataStore.weeknum);
196  TUASSERTE(short, 2, dataStore.codeflags);
197  TUASSERTE(short, 0, dataStore.health);
198  TUASSERTE(short, 0, dataStore.L2Pdata);
199  TUASSERTE(short, 91, dataStore.IODC);
200  }
201 
202 
203  void subframe2Check(gnsstk::EngEphemeris dataStore,
204  gnsstk::TestUtil& testFramework,
205  bool skipASAlert = false)
206  {
207  TUASSERT(dataStore.haveSubframe[1]);
208  TUASSERTE(unsigned short, 0, dataStore.tlm_message[1]);
209 
210  // ASAlert is set to 1 by that addIncompleteSF1Thru3, so
211  // bypassing the ASAlerts test only for that function HOWTime
212  // is not set by this function either
213  if (!skipASAlert)
214  {
215  TUASSERTE(short, 0, dataStore.ASalert[1]);
216  TUASSERTE(long, 409908, dataStore.HOWtime[1]);
217  }
218 
219  TUASSERTE(short, 91, dataStore.IODE);
220  TUASSERTE(short, 0, dataStore.fitint);
221  }
222 
223 
224  void subframe3Check(gnsstk::EngEphemeris dataStore,
225  gnsstk::TestUtil& testFramework,
226  bool skipASAlert = false)
227  {
228  TUASSERT(dataStore.haveSubframe[2]);
229  TUASSERTE(unsigned short, 0, dataStore.tlm_message[2]);
230 
231  // ASAlert is set to 1 by that addIncompleteSF1Thru3, so
232  // bypassing the ASAlerts test only for that function HOWTime
233  // is not set by this function either
234  if (!skipASAlert)
235  {
236  TUASSERTE(short, 0, dataStore.ASalert[2]);
237  TUASSERTE(long, 409914, dataStore.HOWtime[2]);
238  }
239  }
240 
241 
242  unsigned initializationTest(void)
243  {
244  TUDEF("EngEphemeris", "Default Constructor");
245  unsigned badCount = 0;
246 
247  gnsstk::EngEphemeris empty;
248 
249  TUASSERTE(short, 0, empty.PRNID);
250  TUASSERTE(short, 0, empty.tracker);
251  TUASSERTE(short, 0, empty.IODC);
252  TUASSERTE(short, 0, empty.IODE);
253  TUASSERTE(short, 0, empty.weeknum);
254  TUASSERTE(short, 0, empty.codeflags);
255  TUASSERTE(short, 0, empty.health);
256  TUASSERTE(short, 0, empty.L2Pdata);
257  TUASSERTE(std::string, "", empty.satSys);
258  TUASSERTFE(0, empty.Tgd);
259  TUASSERT(empty.isFIC);
260  TUASSERTE(short, 0, empty.ASalert[0]);
261  TUASSERTE(short, 0, empty.ASalert[1]);
262  TUASSERTE(short, 0, empty.ASalert[2]);
263  TUASSERTE(long, 0, empty.HOWtime[0]);
264  TUASSERTE(long, 0, empty.HOWtime[1]);
265  TUASSERTE(long, 0, empty.HOWtime[2]);
266  TUASSERT(!empty.haveSubframe[0]);
267  TUASSERT(!empty.haveSubframe[1]);
268  TUASSERT(!empty.haveSubframe[2]);
269 
270  for (unsigned i=0; i<3; i++)
271  {
272  for (unsigned j=0; j<10; j++)
273  {
274  if (empty.subframeStore[i][j] > eps)
275  badCount++;
276  }
277  }
278  TUASSERTE(unsigned, 0, badCount);
279  badCount = 0;
280 
281  for (unsigned i=0; i<3; i++)
282  {
283  if (empty.haveSubframe[i] != false)
284  badCount++;
285  }
286  TUASSERTE(unsigned, 0, badCount);
287  badCount = 0;
288 
289  TUASSERT(!empty.isValid());
290  TUASSERT(!empty.isDataSet());
291 
292  TURETURN();
293  }
294 
295 
296  unsigned addSubframeTest(void)
297  {
298  TUDEF("EngEphemeris", "addSubframe");
299 
300  gnsstk::EngEphemeris dataStore;
301 
302  // Same values as for addSubframeNoParityTest below, just
303  // added correct parity. Parity was calculated using the
304  // verified functions from EngNav, bad use of time to do at
305  // least 30 binary calculations with take >5 minutes each
306 
307  const uint32_t subframe1P[10] =
308  { 0x22c000e4, 0x215ba160, 0x00180012, 0x1fffffc0, 0x3fffffc3,
309  0x3ffffffc, 0x3fffc009, 0x16d904f0, 0x003fdbac, 0x1b83ed54 };
310  const uint32_t subframe2P[10] =
311  { 0x22c000e4, 0x215bc2f0, 0x16c2eb4d, 0x09f7c524, 0x2fdc3384,
312  0x0289c0dd, 0x0d5ecc38, 0x036b6842, 0x034f4df0, 0x1904c0b4 };
313  const uint32_t subframe3P[10] =
314  { 0x22c000e4, 0x215be378, 0x3ffcc344, 0x1a8441d8, 0x3ff80b74,
315  0x1c8deb5e, 0x0a34d525, 0x14a5012e, 0x3fee8c06, 0x16c35c80 };
316  dataStore = fakeEphemerisInit();
317 
318  // Week: 1025, PRN: 6, tracker:1
319  TUASSERT(dataStore.addSubframe(subframe1P, 1025, 6, 1));
320  subframe1Check(dataStore, testFramework);
321 
322  TUASSERT(dataStore.addSubframe(subframe2P, 1025, 6, 1));
323  subframe2Check(dataStore, testFramework);
324 
325  TUASSERT(dataStore.addSubframe(subframe3P, 1025, 6, 1));
326  subframe3Check(dataStore, testFramework);
327 
328  TURETURN();
329  }
330 
331 
332  unsigned addSubframeNoParityTest(void) //calls add subframe'
333  {
334  TUDEF("EngEphemeris", "addSubframeNoParity");
335 
336  gnsstk::EngEphemeris dataStore;
337  dataStore = fakeEphemerisInit();
338 
339  /*
340 The following huge comments describe how the broadcast subframe data
341 is reconstructed from data/test_input_rinex_nav_FilterTest2.99n
342 
343 
344 Feeding in raw binary values output by satellite (without the parity bits)
345 Without parity each word in 24 bits instead of 30
346 All reserved bits taken to be 1
347 
348 Raw SV data is reconstructed from data/test_input_rinex_nav_FilterTest2.99n
349 using the data format in fig 20-1 of IS-GPS-200D
350 
351 Word 1 formed by TLM preamble followed by TLM mesg (Msg defined by
352 Control Segment and Space segment (?), so left blank)
353 ref. IS-GPS-200D p 82 fig 20-2
354 preamble msg RESERVED
355 10001011 00000000000000 11 = 0x8B0003
356 
357 Word 2 formed by 17b truncated TOW, 1b Alert Flag and 1b Spoof Flag
358 followed by 3b subframe ID (p 81) and 2 parity computation bits
359 ref. IS-GPS-200D p 82 fig 20-2
360 TOW was modified to be evenly divisible by 6
361 17b truncated TOW (409902/6) Alert AntiSpoof SubframeID Parity
362 10000101011011101 0 0 001 00 = 0x856E84
363 
364 Word 3 formed by 10b Week Number (mod 1024), 2b codeflag, 4b URA
365 index, 6b SV health, and first 2 bits of IODC
366 ref. IS-GPS-200D 20.3.3.3 (p 82)
367 Week Num (1025) CodeFlag (C/A code must exist, and P code flag set to 0) URA svhealth IODC 2 MSB
368 0000000001 10 0000 000000 00 = 0x006000
369 
370 Word 4 is L2 P code flag (0) followed by 23 reserved bits, setting them to 1
371 0x7FFFFF
372 
373 Words 5 and 6 are composed on 24 reserved bits, setting them to 1
374 0xFFFFFF
375 
376 Word 7 formed by 16 reserved bits, setting them to 1, followed by 8b TGD
377 TGD is represented by integer scaled by a factor of 2^-31 (IS-GPS-200D
378 table 20-I)
379 Reserved TGD * 2^-31 (0)
380 1111111111111111 00000000 = 0xFFFF00
381 
382 Word 8 formed by 8 LSBs of IODC and 16b toc scaled by 2^4
383 Toc is obtained by converting UTC time from Rinex Nav, scaled to GPS
384 week second (=25619)
385 (IS-GPS-200D table 20-I)
386 8 LSBs of IODC toc * 2^-4
387 0101 1011 0110 0100 0001 0011 = 0x5B6413
388 
389 Word 9 formed by 8b of af2 scaled by 2^-55, and 16b of af1 scaled by
390 2^-43 (IS-GPS-200D table 20-I)
391 af2 * 2^52 af1 * 2^43
392 0000 0000 1111 1111 0110 1110 = 0x00FF6E
393 
394 Word 10 formed by 22b of af0 scaled by 2^-31 and 2 reserved parity
395 bits (marked 0)
396 af * 2^31. # is signed, so found by 2^22 + af0*2^31
397 -.839701388031E-03 * 2^31 =
398 1001000111110000010011 + 00 = 1001 0001 1111 0000 0100 1100 = 0x91F04C
399  */
400 
401  // Is this function designed to just update already stored subframes?
402  // Must be, because loop to see if all 3 subframes stored
403 
404  const uint32_t subframe1[10] =
405  { 0x8B0003, 0x856E84, 0x006000, 0x7FFFFF, 0xFFFFFF,
406  0xFFFFFF, 0xFFFF00, 0x5B6413, 0x00FF6E, 0x91F04C };
407 
408  TUASSERT(dataStore.addSubframeNoParity(subframe1, 1025, 6, 1));
409  subframe1Check(dataStore, testFramework);
410 
411  /*
412 
413 Feeding in raw binary values output by satellite (without the parity bits)
414 Without parity each word in 24 bits instead of 30
415 All reserved bits taken to be 1
416 
417 Raw SV data is reconstructed from data/test_input_rinex_nav_FilterTest2.99n
418 using the data format in fig 20-1 of IS-GPS-200D
419 
420 Word 1 formed by TLM preamble followed by TLM mesg (Msg defined by
421 Control Segment and Space segment (?), so left blank)
422 ref. IS-GPS-200D p 82 fig 20-2
423 preamble msg RESERVED
424 10001011 00000000000000 11 = 0x8B0003
425 
426 Word 2 formed by 17b truncated TOW, 1b Alert Flag and 1b Spoof Flag
427 followed by 3b subframe ID (p 81) and 2 parity computation bits
428 ref. IS-GPS-200D p 82 fig 20-2
429 Previous TOW + 6 for transmit time
430 17b truncated TOW (409908/6) Alert AntiSpoof SubframeID Parity
431 10000101011011110 0 0 010 00 = 0x856F08
432 
433 Word 3 formed by 8b IODE and signed 16b Crs, scaled by 2^-5
434 IODE (91) Crs * 2^5 (93.40625 * 2^5)
435 01011011 0000101110101101 = 0x5B0BAD
436 
437 Word 4 is signed 16b delta N scaled by 2^-43 with the 8 msbs of M0
438 scaled by 2^-31
439 Delta N * 2^43 (.11604054784E-8 * 2^43 / pi = 3249)
440 0000 1100 1011 0001
441 M0 * 2^31 (0.162092304801 * 2^31 / pi = 110800671)
442 0000 0110 (1001 1010 1010 1111 0001 1111) = 0x0CB106
443 
444 Word 5 is the other 24 bits of M0 listed above
445 M0
446 1001 1010 1010 1111 0001 1111 = 0x9AAF1F
447 
448 Word 6 is signed 16b Cuc scaled by 2^-29 with the signed 8 msbs of e
449 scaled by 2^-33
450 Cuc*2^29 (.484101474285E-5*2^29) e*2^33 (.626740418375E-2*2^33)
451 0000 1010 0010 0111 0000 0011 (0011 0101 0111 1011 0011 0000) = 0x0A2703
452 
453 Word 7 is the other 24 bits of e listed above
454 e
455 0011 0101 0111 1011 0011 0000 = 0x357B30
456 
457 Word 8 is signed 16b of Cus scaled by 2^-29 and the unsigned 8mbs of
458 sqrtA scaled by 2^-19
459 Cus*2^29 (.652112066746E-5*2^29) sqrtA*2^19(.515365489006E4*2^19)
460 0000 1101 1010 1101 1010 0001 (0000 1101 0011 1101 0011 0111) = 0x0DADA1
461 
462 Word 9 is the other 24 bits of sqrtA listed above
463 A
464 0000 1101 0011 1101 0011 0111 = 0x0D3D37
465 
466 Word 10 is 16b toe scaled by 2^4 with 1b fit interval flag and 5b AODO
467 Toe (409902*2^-4) fitInt AODO (age of almanac observations, doesn't matter)
468 0110 0100 0001 0011 0 000 00 00 = 0x641300
469  */
470 
471  const uint32_t subframe2[10] =
472  { 0x8B0003, 0x856F08, 0x5B0BAD, 0x0CB106, 0x9AAF1F,
473 0x0A2703, 0x357B30, 0x0DADA1, 0x0D3D37, 0x641300 };
474 
475  TUASSERT(dataStore.addSubframeNoParity(subframe2, 1025, 6, 1));
476  subframe2Check(dataStore, testFramework);
477 
478  /*
479 Feeding in raw binary values output by satellite (without the parity bits)
480 Without parity each word in 24 bits instead of 30
481 All reserved bits taken to be 1
482 
483 Raw SV data is reconstructed from data/test_input_rinex_nav_FilterTest2.99n
484 using the data format in fig 20-1 of IS-GPS-200D
485 
486 Word 1 formed by TLM preamble followed by TLM mesg (Msg defined by
487 Control Segment and Space segment (?), so left blank)
488 ref. IS-GPS-200D p 82 fig 20-2
489 preamble msg RESERVED
490 10001011 00000000000000 11 = 0x8B0003
491 
492 Word 2 formed by 17b truncated TOW, 1b Alert Flag and 1b Spoof Flag
493 followed by 3b subframe ID (p 81) and 2 parity computation bits
494 ref. IS-GPS-200D p 82 fig 20-2
495 Previous TOW + 6 for transmit time
496 17b truncated TOW (409914/6) Alert AntiSpoof SubframeID Parity
497 10000101011011111 0 0 011 00 = 0x856F0C
498 
499 Word 3 is signed 16b Cic scaled by 2^-29 with the signed 8 msbs of
500 omega0 scaled by 2^-31
501 Cic*2^29 (-.242143869400E-7*2^29) omega0*2^31 (.329237003460*2^31/pi)
502 1111 1111 1111 0010 0000 1101 (0110 1010 0001 0001 0000 0111) = 0xFFF30D
503 
504 Word 4 is the other 24 bits of omega0 listed above
505 omega0
506 0110 1010 0001 0001 0000 0111 = 0x6A1107
507 
508 Word 5 is signed 16b Cis scaled by 2^-29 with the signed 8 msbs of I0
509 scaled by 2^-31
510 Cis*2^29 (-.596046447754E-7*2^29) I0*2^31 (1.11541663136*2^31/pi)
511 1111 1111 1110 0000 0010 1101 (0111 0010 0011 0111 1010 1101) = 0xFFE02D
512 
513 Word 6 is the other 24 bits of I0 listed above
514 I0
515 0111 0010 0011 0111 1010 1101 = 0x7237AD
516 
517 Word 7 is signed 16b of Crc scaled by 2^-5 and the unsigned 8mbs of
518 omega scaled by 2^-31
519 Crc*2^5 (326.59375*2^5) omega*2^31(2.06958726335*2^31/pi)
520 0010 1000 1101 0011 0101 0100 (0101 0010 1001 0100 0000 0100) = 0x28D354
521 
522 Word 8 is the other 24 bits of omega listed above
523 omega
524 0101 0010 1001 0100 0000 0100 = 0x529404
525 
526 Word 9 is signed 24b of OMEGADOT scaled by 2^-43
527 OMEGADOT (-.638312302555E-8*2^43/pi)
528 1111 1111 1011 1010 0011 0000 = 0xFFBA30
529 
530 Word 10 is 8b IODE with signed 14b IDOT scaled by 2^-43
531 IODE (91) IDOT*2^43 (.307155651409E-9*2^43/pi) parity comp
532 0101 1011 0000 1101 0111 00 00 = 0x5B0D70
533  */
534 
535  const uint32_t subframe3[10] =
536  { 0x8B0003, 0x856F8C, 0xFFF30D, 0x6A1107, 0xFFE02D,
537  0x7237AD, 0x28D354, 0x529404, 0xFFBA30, 0x5B0D70 };
538 
539  TUASSERT(dataStore.addSubframeNoParity(subframe3, 1025, 6, 1));
540  subframe3Check(dataStore, testFramework);
541 
542  TURETURN();
543  }
544 
545 
546  unsigned setSF1Test(gnsstk::EngEphemeris& dataStore)
547  {
548  TUDEF("EngEphemeris", "setSF1");
549 
550  // The following values were taken from
551  // data/test_input_rinex_nav_FilterTest2.99n
552 
553  // Rinex documentation found at
554  // http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt
555  // helpful animation at
556  // http://emedia.rmit.edu.au/satellite/node/21
557 
558  // TLM value just taken to be the TLM msg, which is defined
559  // by the CS and SS, so left blank. HOW value taken to be
560  // Time of Week in seconds.
561 
562  // More detailed info on each data type can be found in IS-GPS-200D
563 
564  dataStore.setSF1(0, // tlm
565  409902, // how
566  0, // ASalert
567  1025, // week
568  2, // cflags
569  0, // acc
570  0, // svhealth
571  91, // IODC
572  0, // l2pdate
573  0.0, // tgd
574  25619, // Toc
575  0.0, // af2
576  -.165982783074*pow(b10,-10), // af1
577  -.839701388031*pow(b10,-3), // af0
578  1, // tracker
579  6); // prn
580 
581  subframe1Check(dataStore, testFramework);
582 
583  TUASSERT(!dataStore.isValid());
584  TUASSERT(!dataStore.isDataSet());
585 
586  TURETURN();
587  }
588 
589 
590  unsigned setSF2Test(gnsstk::EngEphemeris& dataStore)
591  {
592  TUDEF("EngEphemeris", "setSF2");
593 
594  // The following values were taken from
595  // data/test_input_rinex_nav_FilterTest2.99n
596 
597  // Rinex documentation found at
598  // http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt
599  // helpful animation at
600  // http://emedia.rmit.edu.au/satellite/node/21
601 
602  // TLM value just taken to be the TLM msg, which is defined
603  // by the CS and SS, so left blank. HOW value taken to be
604  // Time of Week in seconds.
605 
606  // More detailed info on each data type can be found in IS-GPS-200D
607 
608  dataStore.setSF2(0, // tlm
609  409908.0, // how
610  0, // ASalert
611  91, // IODE
612  93.40625, // crs
613  .11604054784 * pow(b10,-8), // Dn
614  0.162092304801, // m0
615  .484101474285*pow(b10,-5), // cuc
616  .626740418375*pow(b10,-2), // ecc
617  .652112066746*pow(b10,-5), // cus
618  .515365489006*pow(b10,4), // ahalf
619  409902, // toe
620  0); // fitint
621 
622  subframe2Check(dataStore, testFramework);
623 
624  TUASSERT(!dataStore.isDataSet());
625 
626  TURETURN();
627  }
628 
629 
630  unsigned setSF3Test(gnsstk::EngEphemeris& dataStore)
631  {
632  TUDEF("EngEphemeris", "setSF3");
633 
634  // The following values were taken from
635  // data/test_input_rinex_nav_FilterTest2.99n
636 
637  // Rinex documentation found at
638  // http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt
639  // helpful animation at
640  // http://emedia.rmit.edu.au/satellite/node/21
641 
642  // TLM value just taken to be the TLM msg, which is defined
643  // by the CS and SS, so left blank. HOW value taken to be
644  // Time of Week in seconds.
645 
646  // More detailed info on each data type can be found in IS-GPS-200D
647 
648  dataStore.setSF3(0, // tlm
649  409914.0, // how
650  0, // ASalert
651  -.242143869400*pow(b10,-7), // cic
652  .10479939309884491, // Omega0 aka OMEGA
653  -.596046447754*pow(b10,-7), // cis
654  0.3550481409757088, // I0
655  326.59375, // crc
656  0.6587700862443613, // W (aka omega)
657  -2.0318111637599545*pow(b10,-9), // OmegaDot
658  .307155651409*pow(b10,-9)); // idot
659 
660  subframe3Check(dataStore, testFramework);
661 
662  TUASSERT(dataStore.isDataSet());
663 
664  TURETURN();
665  }
666 
667 
668  unsigned getTest(gnsstk::EngEphemeris& dataStore)
669  {
670  TUDEF("EngEphemeris", "Get Methods");
671 
672  TUASSERTE(short, 6, dataStore.getPRNID());
673  TUASSERTE(short, 1, dataStore.getTracker());
674  TUASSERTFE(409902, dataStore.getHOWTime(1));
675  TUASSERTE(short, 0, dataStore.getASAlert(1));
676  TUASSERTE(short, 1025, dataStore.getFullWeek());
677  TUASSERTE(short, 2, dataStore.getCodeFlags());
678  TUASSERTFE(25619, dataStore.getToc());
679  TUASSERTFE(-.839701388031*pow(b10,-3), dataStore.getAf0());
680  TUASSERTFE(-.165982783074*pow(b10,-10), dataStore.getAf1());
681  TUASSERTFE(0, dataStore.getAf2());
682  TUASSERTE(short, 0, dataStore.getHealth());
683  TUASSERTE(short, 0, dataStore.getL2Pdata());
684  TUASSERTE(short, 91, dataStore.getIODC());
685  TUASSERTE(short, 91, dataStore.getIODE());
686 
687  //setSF# doesn't set AODO, is only set by loadData which is not tested by getMethods. Skipping
688 // testMesg = "The getAODO method didn't function correctly";
689 // TUASSERTE(dataStore.getAODO() == 0/*VALUE NOT SET BY SETSF3*/);
690 
691  TUASSERTFE(.652112066746*pow(b10,-5), dataStore.getCus());
692  TUASSERTFE(93.40625, dataStore.getCrs());
693  TUASSERTFE(.484101474285*pow(b10,-5), dataStore.getCuc());
694  TUASSERTFE(409902, dataStore.getToe());
695  TUASSERTFE(0.162092304801, dataStore.getM0());
696  TUASSERTFE(.11604054784*pow(b10,-8), dataStore.getDn());
697  TUASSERTFE(.626740418375*pow(b10,-2), dataStore.getEcc());
698  TUASSERTFE(.515365489006*pow(b10,4), dataStore.getAhalf());
699  TUASSERTFE(pow(.515365489006*pow(b10,4),2), dataStore.getA());
700  TUASSERTFE(-.596046447754*pow(b10,-7), dataStore.getCis());
701  TUASSERTFE(326.59375, dataStore.getCrc());
702  TUASSERTFE(-.242143869400*pow(b10,-7), dataStore.getCic());
703  TUASSERTFE(0.10479939309884491, dataStore.getOmega0());
704  TUASSERTFE(0.3550481409757088, dataStore.getI0());
705  TUASSERTFE(0.6587700862443613, dataStore.getW());
706  TUASSERTFE(-2.0318111637599545*pow(b10,-9), dataStore.getOmegaDot());
707  TUASSERTFE(.307155651409*pow(b10,-9), dataStore.getIDot());
708  TUASSERTE(long, 409890, dataStore.getTot());
709  // earliest of the HOW's (409902) rounded down to nearest
710  // multiple of 30
711 
712  TURETURN();
713  }
714 
715  unsigned loadDataTest(void)
716  {
717  TUDEF("EngEphemeris", "loadData");
718 
719  gnsstk::EngEphemeris dataStore;
720 
721  unsigned short tlm[3] = {0,0,0};
722  const long how[3] = {409902, 409908, 409914};
723  const short ASalert[3] = {0,0,0};
724 
725  dataStore.loadData((std::string) "No Idea",
726  tlm,
727  how,
728  ASalert,
729  1, // tracker
730  6, // prn
731  1025, // week
732  2, // cflags
733  0, // acc
734  0, // svhealth
735  91, // iodc
736  0, // l2p
737  0.0, // aodo
738  0.0, // tgd
739  25619, // toc
740  0.0, // af2
741  -.165982783074*pow(b10,-10), // af1
742  -.839701388031*pow(b10,-3), // af0
743  91, // iode
744  93.40625, // crs
745  .11604054784 * pow(b10,-8), // dn
746  0.162092304801, // M0
747  .484101474285*pow(b10,-5), // cuc
748  .626740418375*pow(b10,-2), // ecc
749  .652112066746*pow(b10,-5), // cus
750  .515365489006*pow(b10,4), // Ahalf
751  409902, // toe
752  0, // fit int
753  -.242143869400*pow(b10,-7), // cic
754  .10479939309884491, // Omega0 aka OMEGA
755  -.596046447754*pow(b10,-7), // cis
756  0.3550481409757088, // i0
757  326.59375, // crc
758  0.6587700862443613, // W aka omega
759  -2.0318111637599545*pow(b10,-9), // OmegaDot
760  .307155651409*pow(b10,-9)); // IDot
761 
762  subframe1Check(dataStore, testFramework);
763  subframe2Check(dataStore, testFramework);
764  subframe3Check(dataStore, testFramework);
765 
766  TURETURN();
767  }
768 
769 
770  unsigned addIncompleteTest(void)
771  {
772  TUDEF("EngEphemeris", "addIncomplete");
773 
774  gnsstk::EngEphemeris dataStore;
775 
776  const uint32_t subframe1P[8] =
777  { 0x00180012, 0x1fffffc0, 0x3fffffc3, 0x3ffffffc,
778  0x3fffc009, 0x16d904f0, 0x003fdbac, 0x1b83ed54 };
779  const uint32_t subframe2P[8] =
780  { 0x16c2eb4d, 0x09f7c524, 0x2fdc3384, 0x0289c0dd,
781  0x0d5ecc38, 0x036b6842, 0x034f4df0, 0x1904c0b4 };
782  const uint32_t subframe3P[8] =
783  { 0x3ffcc344, 0x1a8441d8, 0x3ff80b74, 0x1c8deb5e,
784  0x0a34d525, 0x14a5012e, 0x3fee8c06, 0x16c35c80 };
785 
786  TUASSERT(dataStore.addIncompleteSF1Thru3(subframe1P, subframe2P,
787  subframe3P, 444, 1025, 6, 1));
788 
789  //ASAlert tests fail, data is not included in the incomplete subframe.
790  subframe1Check(dataStore, testFramework, true);
791  subframe2Check(dataStore, testFramework, true);
792  subframe3Check(dataStore, testFramework, true);
793 
794  TURETURN();
795  }
796 
797 
798  unsigned endOfWeekTest()
799  {
800  TUDEF("EngEphemeris", "addSubframe");
801  EngEphemeris eeph;
802  TUASSERT(eeph.addSubframe(&ephEOW[ 0], ephEOWwk, ephEOWprn, 1));
803  TUASSERT(eeph.addSubframe(&ephEOW[10], ephEOWwk, ephEOWprn, 1));
804  TUASSERT(eeph.addSubframe(&ephEOW[20], ephEOWwk, ephEOWprn, 1));
805 
806  TUASSERTE(short, ephEOWprn, eeph.PRNID);
807  TUASSERTE(CommonTime, ephEOWtoc, eeph.getEpochTime());
808  TUASSERTFE(ephEOWaf0, eeph.bcClock.getAf0());
809  TUASSERTFE(ephEOWaf1, eeph.bcClock.getAf1());
810  TUASSERTFE(ephEOWaf2, eeph.bcClock.getAf2());
811  TUASSERTFE(ephEOWiode, eeph.IODE);
812  TUASSERTFE(ephEOWCrs, eeph.orbit.getCrs());
813  TUASSERTFE(ephEOWdn, eeph.orbit.getDn());
814  TUASSERTFE(ephEOWM0, eeph.orbit.getM0());
815  TUASSERTFE(ephEOWCuc, eeph.orbit.getCuc());
816  TUASSERTFE(ephEOWecc, eeph.orbit.getEcc());
817  TUASSERTFE(ephEOWCus, eeph.orbit.getCus());
818  TUASSERTFE(ephEOWAhalf, eeph.orbit.getAhalf());
819  TUASSERTFE(ephEOWtoe, eeph.getEphemerisEpoch());
820  TUASSERTFE(ephEOWCic, eeph.orbit.getCic());
821  TUASSERTFE(ephEOWOMEGA0, eeph.orbit.getOmega0());
822  TUASSERTFE(ephEOWCis, eeph.orbit.getCis());
823  TUASSERTFE(ephEOWi0, eeph.orbit.getI0());
824  TUASSERTFE(ephEOWCrc, eeph.orbit.getCrc());
825  TUASSERTFE(ephEOWw, eeph.orbit.getW());
826  TUASSERTFE(ephEOWOMEGAdot, eeph.orbit.getOmegaDot());
827  TUASSERTFE(ephEOWidot, eeph.orbit.getIDot());
828  TUASSERTE(short, ephEOWcodeflgs, eeph.codeflags);
829  TUASSERTE(short, ephEOWl2pData, eeph.L2Pdata);
830  TUASSERTFE(ephEOWacc, eeph.getAccuracy());
831  TUASSERTE(short, ephEOWhealth, eeph.health);
832  TUASSERTFE(ephEOWTgd, eeph.Tgd);
833  TUASSERTFE(ephEOWiodc, eeph.IODC);
834  TUASSERTFE(ephEOWfitint, eeph.fitint);
835 
836  TURETURN();
837  }
838 
839 
840  unsigned equalityTest()
841  {
842  TUDEF("EngEphemeris", "operator== / !=");
843  EngEphemeris eeph;
844  TUASSERT(eeph.addSubframe(&ephEOW[ 0], ephEOWwk, ephEOWprn, 1));
845  TUASSERT(eeph.addSubframe(&ephEOW[10], ephEOWwk, ephEOWprn, 1));
846  TUASSERT(eeph.addSubframe(&ephEOW[20], ephEOWwk, ephEOWprn, 1));
847  EngEphemeris eephCopy(eeph);
848  // make sure our copy reports as being the same
849  TUASSERTE(EngEphemeris, eeph, eephCopy);
850  // Tweak each data member one by one and compare.
851  // Yes the comments are fairly redundant but it helps to
852  // visually separate each batch of statements per data
853  // member.
854  eephCopy.tlm_message[0] = 0xbeef;
855  TUASSERT(eephCopy != eeph);
856  TUASSERT(!(eephCopy == eeph));
857  // tlm[1]
858  TUCATCH(eephCopy = eeph);
859  TUASSERTE(EngEphemeris, eeph, eephCopy);
860  eephCopy.tlm_message[1] = 0xbeef;
861  TUASSERT(eephCopy != eeph);
862  TUASSERT(!(eephCopy == eeph));
863  // tlm[2]
864  TUCATCH(eephCopy = eeph);
865  TUASSERTE(EngEphemeris, eeph, eephCopy);
866  eephCopy.tlm_message[2] = 0xbeef;
867  TUASSERT(eephCopy != eeph);
868  TUASSERT(!(eephCopy == eeph));
869  // satSys
870  TUCATCH(eephCopy = eeph);
871  TUASSERTE(EngEphemeris, eeph, eephCopy);
872  eephCopy.satSys = "twaffle";
873  TUASSERT(eephCopy != eeph);
874  TUASSERT(!(eephCopy == eeph));
875  // PRNID
876  TUCATCH(eephCopy = eeph);
877  TUASSERTE(EngEphemeris, eeph, eephCopy);
878  eephCopy.PRNID = 93;
879  TUASSERT(eephCopy != eeph);
880  TUASSERT(!(eephCopy == eeph));
881  // tracker
882  TUCATCH(eephCopy = eeph);
883  TUASSERTE(EngEphemeris, eeph, eephCopy);
884  eephCopy.tracker = 39;
885  TUASSERT(eephCopy != eeph);
886  TUASSERT(!(eephCopy == eeph));
887  // HOWtime[0]
888  TUCATCH(eephCopy = eeph);
889  TUASSERTE(EngEphemeris, eeph, eephCopy);
890  eephCopy.HOWtime[0] = 0xbeef;
891  TUASSERT(eephCopy != eeph);
892  TUASSERT(!(eephCopy == eeph));
893  // HOWtime[1]
894  TUCATCH(eephCopy = eeph);
895  TUASSERTE(EngEphemeris, eeph, eephCopy);
896  eephCopy.HOWtime[1] = 0xbeef;
897  TUASSERT(eephCopy != eeph);
898  TUASSERT(!(eephCopy == eeph));
899  // HOWtime[2]
900  TUCATCH(eephCopy = eeph);
901  TUASSERTE(EngEphemeris, eeph, eephCopy);
902  eephCopy.HOWtime[2] = 0xbeef;
903  TUASSERT(eephCopy != eeph);
904  TUASSERT(!(eephCopy == eeph));
905  // ASalert[0]
906  TUCATCH(eephCopy = eeph);
907  TUASSERTE(EngEphemeris, eeph, eephCopy);
908  eephCopy.ASalert[0] = 0xbe;
909  TUASSERT(eephCopy != eeph);
910  TUASSERT(!(eephCopy == eeph));
911  // ASalert[1]
912  TUCATCH(eephCopy = eeph);
913  TUASSERTE(EngEphemeris, eeph, eephCopy);
914  eephCopy.ASalert[1] = 0xbe;
915  TUASSERT(eephCopy != eeph);
916  TUASSERT(!(eephCopy == eeph));
917  // ASalert[2]
918  TUCATCH(eephCopy = eeph);
919  TUASSERTE(EngEphemeris, eeph, eephCopy);
920  eephCopy.ASalert[2] = 0xbe;
921  TUASSERT(eephCopy != eeph);
922  TUASSERT(!(eephCopy == eeph));
923  // weeknum
924  TUCATCH(eephCopy = eeph);
925  TUASSERTE(EngEphemeris, eeph, eephCopy);
926  eephCopy.weeknum = 1027;
927  TUASSERT(eephCopy != eeph);
928  TUASSERT(!(eephCopy == eeph));
929  // codeflags
930  TUCATCH(eephCopy = eeph);
931  TUASSERTE(EngEphemeris, eeph, eephCopy);
932  eephCopy.codeflags = 7;
933  TUASSERT(eephCopy != eeph);
934  TUASSERT(!(eephCopy == eeph));
935  // health
936  TUCATCH(eephCopy = eeph);
937  TUASSERTE(EngEphemeris, eeph, eephCopy);
938  eephCopy.health = 9;
939  TUASSERT(eephCopy != eeph);
940  TUASSERT(!(eephCopy == eeph));
941  // L2Pdata
942  TUCATCH(eephCopy = eeph);
943  TUASSERTE(EngEphemeris, eeph, eephCopy);
944  eephCopy.L2Pdata = 11;
945  TUASSERT(eephCopy != eeph);
946  TUASSERT(!(eephCopy == eeph));
947  // IODC
948  TUCATCH(eephCopy = eeph);
949  TUASSERTE(EngEphemeris, eeph, eephCopy);
950  eephCopy.IODC = 13;
951  TUASSERT(eephCopy != eeph);
952  TUASSERT(!(eephCopy == eeph));
953  // IODE
954  TUCATCH(eephCopy = eeph);
955  TUASSERTE(EngEphemeris, eeph, eephCopy);
956  eephCopy.IODE = 17;
957  TUASSERT(eephCopy != eeph);
958  TUASSERT(!(eephCopy == eeph));
959  // AODO
960  TUCATCH(eephCopy = eeph);
961  TUASSERTE(EngEphemeris, eeph, eephCopy);
962  eephCopy.AODO = 19;
963  TUASSERT(eephCopy != eeph);
964  TUASSERT(!(eephCopy == eeph));
965  // fitint
966  TUCATCH(eephCopy = eeph);
967  TUASSERTE(EngEphemeris, eeph, eephCopy);
968  eephCopy.fitint = 23;
969  TUASSERT(eephCopy != eeph);
970  TUASSERT(!(eephCopy == eeph));
971  // Tgd
972  TUCATCH(eephCopy = eeph);
973  TUASSERTE(EngEphemeris, eeph, eephCopy);
974  eephCopy.Tgd = 31;
975  TUASSERT(eephCopy != eeph);
976  TUASSERT(!(eephCopy == eeph));
977  TURETURN();
978  }
979 
980  std::string testMesg;
981 
982 private:
983  double eps;
984  double b10;
985 };
986 
987 int main() //Main function to initialize and run all tests above
988 {
989  using namespace std;
990  EngEphemeris_T testClass;
991  unsigned errorTotal = 0;
992 
993  // Used to have a running ephemeris for functions that only set
994  // part of it
995  gnsstk::EngEphemeris dataStore;
996 
997  errorTotal += testClass.initializationTest();
998 
999  // setSF# require previous subframes to be set, and get needs a
1000  // valid ephemeris object
1001  // Passing one between the tests
1002  // If one of the setSF# tests fail, all other setSF# and get
1003  // tests will fail too
1004  errorTotal += testClass.setSF1Test(dataStore);
1005  errorTotal += testClass.setSF2Test(dataStore);
1006  errorTotal += testClass.setSF3Test(dataStore);
1007  errorTotal += testClass.getTest(dataStore);
1008  errorTotal += testClass.addSubframeNoParityTest();
1009  errorTotal += testClass.addSubframeTest();
1010  errorTotal += testClass.loadDataTest();
1011  errorTotal += testClass.addIncompleteTest();
1012  errorTotal += testClass.endOfWeekTest();
1013  errorTotal += testClass.equalityTest();
1014 
1015  cout << "Total Failures for " << __FILE__ << ": " << errorTotal << endl;
1016 
1017  return errorTotal; // Return the total number of errors
1018 }
EngEphemeris_T::subframe3Check
void subframe3Check(gnsstk::EngEphemeris dataStore, gnsstk::TestUtil &testFramework, bool skipASAlert=false)
Definition: EngEphemeris_T.cpp:224
gnsstk::BrcKeplerOrbit::getI0
double getI0() const
Definition: BrcKeplerOrbit.cpp:715
ephEOWidot
const double ephEOWidot
Definition: EngEphemeris_T.cpp:113
gnsstk::BrcKeplerOrbit::getW
double getW() const
Definition: BrcKeplerOrbit.cpp:725
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TestUtil.hpp
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Definition: EngEphemeris.cpp:785
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Definition: EngEphemeris.hpp:636
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EngEphemeris.hpp
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Definition: EngEphemeris_T.cpp:103
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Definition: EngEphemeris_T.cpp:93
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Definition: EngEphemeris_T.cpp:118
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Definition: EngEphemeris_T.cpp:105
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Definition: WeekSecond.hpp:155
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Definition: EngEphemeris.cpp:1108
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EngEphemeris & loadData(const std::string satSysArg, const unsigned short tlm[3], const long how[3], const short asalert[3], const short Tracker, const short prn, const short fullweek, const short cflags, const short acc, const short svhealth, const short iodc, const short l2pdata, const long Aodo, const double tgd, const double toc, const double Af2, const double Af1, const double Af0, const short iode, const double crs, const double Dn, const double m0, const double cuc, const double Ecc, const double cus, const double ahalf, const double toe, const short fitInt, const double cic, const double Omega0, const double cis, const double I0, const double crc, const double W, const double OmegaDot, const double IDot)
Definition: EngEphemeris.cpp:1019
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Definition: BrcKeplerOrbit.cpp:564
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Definition: EngEphemeris_T.cpp:770
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Definition: EngEphemeris.cpp:619
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Definition: EngEphemeris_T.cpp:114
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Definition: BrcClockCorrection.cpp:342
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Definition: EngEphemeris_T.cpp:79
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Definition: EngEphemeris_T.cpp:590
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Definition: TestUtil.hpp:56
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Definition: EngEphemeris.cpp:1247
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Definition: EngEphemeris.hpp:643
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Definition: BrcKeplerOrbit.cpp:614
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Definition: EngEphemeris_T.cpp:630
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Definition: EngEphemeris.hpp:644
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Definition: EngEphemeris.hpp:627
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Definition: BrcKeplerOrbit.cpp:574
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Definition: EngEphemeris.hpp:647
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Definition: EngEphemeris_T.cpp:987
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Definition: EngEphemeris_T.cpp:715
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Definition: EngEphemeris.hpp:620
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Definition: EngEphemeris_T.cpp:59
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Definition: Angle.hpp:142
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Definition: EngEphemeris.cpp:875
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