CI: gps test hackrf support (#26364)

* first ignore

* init gps test

* make LimeGPS git clone

* revert ignore

* .

* remove prebuilt bins

* gps test v1

* add static signal gen script

* update readme

* remove LD_PRELOAD by using rpath, update values after testing

* .

* remove LD_PRELOAD

* .

* fix README

* .

* .

* .

* gps test v1

* cleanUp

* init

* update fuzzy tests

* .

* finalize qcom gps tests

* .

* .

* .

* add downloader

* finalize unit tests

* .

* .

* inc limeGPS startup time

* tmp

* loosen init time

* .

* .

* .

* add ublox warmstart test

* .

* improve location tests

* .

* .

* .

* .

* .

* .

* .

* .

* last cleanUp

* .

* .

* add hackrf support

* hackrf support

* .

* .

* .

* .

* .

* .

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

tools/gpstest/.gitignore

@@ -1,2 +1,4 @@
 LimeGPS/
 LimeSuite/
+hackrf/
+gps-sdr-sim/

tools/gpstest/patches/hackrf.patch

@@ -0,0 +1,44 @@
+diff --git a/host/hackrf-tools/src/CMakeLists.txt b/host/hackrf-tools/src/CMakeLists.txt
+index 7115151c..a51388ba 100644
+--- a/host/hackrf-tools/src/CMakeLists.txt
++++ b/host/hackrf-tools/src/CMakeLists.txt
+@@ -23,20 +23,20 @@
+ 
+ set(INSTALL_DEFAULT_BINDIR "bin" CACHE STRING "Appended to CMAKE_INSTALL_PREFIX")
+ 
+-find_package(FFTW REQUIRED)
+-include_directories(${FFTW_INCLUDES})
+-get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY)
+-link_directories(${FFTW_LIBRARY_DIRS})
++#find_package(FFTW REQUIRED)
++#include_directories(${FFTW_INCLUDES})
++#get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY)
++#link_directories(${FFTW_LIBRARY_DIRS})
+ 
+ SET(TOOLS
+ 	hackrf_transfer
+-	hackrf_spiflash
+-	hackrf_cpldjtag
++	#hackrf_spiflash
++	#hackrf_cpldjtag
+ 	hackrf_info
+-	hackrf_debug
+-	hackrf_clock
+-	hackrf_sweep
+-	hackrf_operacake
++	#hackrf_debug
++	#hackrf_clock
++	#hackrf_sweep
++	#hackrf_operacake
+ )
+ 
+ if(MSVC)
+@@ -45,7 +45,7 @@ if(MSVC)
+ 	)
+ 	LIST(APPEND TOOLS_LINK_LIBS ${FFTW_LIBRARIES})
+ else()
+-    LIST(APPEND TOOLS_LINK_LIBS m fftw3f)
++    LIST(APPEND TOOLS_LINK_LIBS m)# fftw3f)
+ endif()
+ 
+ if(NOT libhackrf_SOURCE_DIR)

tools/gpstest/setup_hackrf.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR
+
+if [ ! -d gps-sdr-sim ]; then
+  git clone https://github.com/osqzss/gps-sdr-sim.git
+  cd gps-sdr-sim
+  make
+  cd ..
+fi
+
+if [ ! -d hackrf ]; then
+  git clone https://github.com/greatscottgadgets/hackrf.git
+  cd hackrf/host
+  git apply ../../patches/hackrf.patch
+  cmake .
+  make
+fi
+

tools/gpstest/simulate_gps_signal.py

@@ -36,38 +36,7 @@ def get_random_coords(lat, lon) -> Tuple[int, int]:
   # jump around the world
   return get_coords(lat, lon, 20, 20, 10, 20)
 
-def check_availability() -> bool:
+def run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout):
-  cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"]
-  output = sp.check_output(cmd)
-
-  if output.strip() == b"":
-    return False
-
-  print(f"Device: {output.strip().decode('utf-8')}")
-  return True
-
-def main(lat, lon, jump_sim, contin_sim):
-  if not os.path.exists('LimeGPS'):
-    print("LimeGPS not found run 'setup.sh' first")
-    return
-
-  if not os.path.exists('LimeSuite'):
-    print("LimeSuite not found run 'setup.sh' first")
-    return
-
-  if not check_availability():
-    print("No limeSDR device found!")
-    return
-
-  rinex_file = download_rinex()
-
-  if lat == 0 and lon == 0:
-    lat, lon = get_random_coords(47.2020, 15.7403)
-
-  timeout = None
-  if jump_sim:
-    timeout = 30
-
   while True:
     try:
       print(f"starting LimeGPS, Location: {lat},{lon}")
@@ -86,17 +55,92 @@ def main(lat, lon, jump_sim, contin_sim):
 
       print(f"LimeGPS crashed: {str(e)}")
       print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member
+      return
 
     if contin_sim:
       lat, lon = get_continuous_coords(lat, lon)
     else:
       lat, lon = get_random_coords(lat, lon)
 
+def run_hackRF_loop(lat, lon, rinex_file, timeout):
+
+  if timeout is not None:
+    print("no jump mode for hackrf!")
+    return
+
+  try:
+    print(f"starting gps-sdr-sim, Location: {lat},{lon}")
+    # create 30second file and replay with hackrf endless
+    cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},100", "-d", "30"]
+    sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
+    # created in current working directory
+  except Exception:
+    print("Failed to generate gpssim.bin")
+
+  try:
+    print("starting hackrf_transfer")
+    # create 30second file and replay with hackrf endless
+    cmd = ["hackrf/host/hackrf-tools/src/hackrf_transfer", "-t", "gpssim.bin",
+           "-f", "1575420000", "-s", "2600000", "-a", "1", "-R"]
+    sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
+  except KeyboardInterrupt:
+    print("stopping hackrf_transfer")
+    return
+  except Exception as e:
+    print(f"hackrf_transfer crashed:{str(e)}")
+
+
+def main(lat, lon, jump_sim, contin_sim, hackrf_mode):
+
+  if hackrf_mode:
+    if not os.path.exists('hackrf'):
+      print("hackrf not found run 'setup_hackrf.sh' first")
+      return
+
+    if not os.path.exists('gps-sdr-sim'):
+      print("gps-sdr-sim not found run 'setup_hackrf.sh' first")
+      return
+
+    output = sp.check_output(["hackrf/host/hackrf-tools/src/hackrf_info"])
+    if output.strip() == b"" or b"No HackRF boards found." in output:
+      print("No HackRF boards found!")
+      return
+
+  else:
+    if not os.path.exists('LimeGPS'):
+      print("LimeGPS not found run 'setup.sh' first")
+      return
+
+    if not os.path.exists('LimeSuite'):
+      print("LimeSuite not found run 'setup.sh' first")
+      return
+
+    output = sp.check_output(["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"])
+    if output.strip() == b"":
+      print("No LimeSDR device found!")
+      return
+    print(f"Device: {output.strip().decode('utf-8')}")
+
+  if lat == 0 and lon == 0:
+    lat, lon = get_random_coords(47.2020, 15.7403)
+
+  rinex_file = download_rinex()
+
+  timeout = None
+  if jump_sim:
+    timeout = 30
+
+  if not hackrf_mode:
+    run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout)
+  else:
+    run_hackRF_loop(lat, lon, rinex_file, timeout)
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.")
   parser.add_argument("lat", type=float, nargs='?', default=0)
   parser.add_argument("lon", type=float, nargs='?', default=0)
   parser.add_argument("--jump", action="store_true", help="signal that jumps around the world")
   parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world")
+  parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)")
   args = parser.parse_args()
-  main(args.lat, args.lon, args.jump, args.contin)
+  main(args.lat, args.lon, args.jump, args.contin, args.hackrf)