gnss-sdr/src/algorithms/channel/adapters/channel.cc

/*!
 * \file channel.cc
 * \brief Implementation of a GPS_L1_CA_Channel with a Finite State Machine
 * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
 *         Luis Esteve, 2011. luis(at)epsilon-formacion.com
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GNSS-SDR is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */
#include "channel.h"
#include <memory>
#include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include "channel_interface.h"
#include "acquisition_interface.h"
#include "tracking_interface.h"
#include "telemetry_decoder_interface.h"
#include "configuration_interface.h"

using google::LogMessage;

void Channel::msg_handler_events(pmt::pmt_t msg)
{
    try {
        long int message=pmt::to_long(msg);
        switch (message)
        {
        case 1: //positive acquisition
            DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
                gnss_synchro_.System << " " << gnss_synchro_.PRN;
            channel_fsm_.Event_valid_acquisition();
            break;
        case 2: //negative acquisition
            DLOG(INFO) << "Channel " << channel_
                << " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
            if (repeat_ == true)
                {
                    channel_fsm_.Event_failed_acquisition_repeat();
                }
            else
                {
                    channel_fsm_.Event_failed_acquisition_no_repeat();
                }
            break;
        case 3: // tracking loss of lock event
            channel_fsm_.Event_failed_tracking_standby();
            break;
        default:
            LOG(WARNING) << "Default case, invalid message.";
            break;
        }
    }catch(boost::bad_any_cast& e)
    {
            LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
    }
}
// Constructor
Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
        GNSSBlockInterface *pass_through, AcquisitionInterface *acq,
        TrackingInterface *trk, TelemetryDecoderInterface *nav,
        std::string role, std::string implementation, boost::shared_ptr<gr::msg_queue> queue) :
        gr::block("galileo_e1_pvt_cc", 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(&Channel::msg_handler_events, this, _1));

    pass_through_=pass_through;
    acq_=acq;
    trk_=trk;
    nav_=nav;
    role_=role;
    implementation_=implementation;
    channel_=channel;
    queue_=queue;

    acq_->set_channel(channel_);
    trk_->set_channel(channel_);
    nav_->set_channel(channel_);

    gnss_synchro_.Channel_ID = channel_;
    acq_->set_gnss_synchro(&gnss_synchro_);
    trk_->set_gnss_synchro(&gnss_synchro_);

    // IMPORTANT: Do not change the order between set_doppler_max, set_doppler_step and set_threshold
    unsigned int doppler_max = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_max", 0);
    if(doppler_max == 0) doppler_max = configuration->property("Acquisition_" + implementation_+ ".doppler_max", 0);
    DLOG(INFO) << "Channel "<< channel_ << " Doppler_max = " << doppler_max;

    acq_->set_doppler_max(doppler_max);

    unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step" ,0);
    if(doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_+".doppler_step", 500);
    DLOG(INFO) << "Channel "<< channel_ << " Doppler_step = " << doppler_step;

    acq_->set_doppler_step(doppler_step);

    float threshold = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0);
    if(threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);

    acq_->set_threshold(threshold);

    acq_->init();

    repeat_ = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".repeat_satellite", false);
    DLOG(INFO) << "Channel " << channel_ << " satellite repeat = " << repeat_;

    channel_fsm_.set_acquisition(acq_);
    channel_fsm_.set_tracking(trk_);
    channel_fsm_.set_channel(channel_);
    channel_fsm_.set_queue(queue_);

    connected_ = false;
    gnss_signal_ = Gnss_Signal();
}

// Destructor
Channel::~Channel()
{
}

void Channel::connect(gr::top_block_sptr top_block)
{
    if (connected_)
        {
            LOG(WARNING) << "channel already connected internally";
            return;
        }
    pass_through_->connect(top_block);
    acq_->connect(top_block);
    trk_->connect(top_block);
    nav_->connect(top_block);

    //Synchronous ports
    top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
    DLOG(INFO) << "pass_through_ -> acquisition";
    top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
    DLOG(INFO) << "pass_through_ -> tracking";
    top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
    DLOG(INFO) << "tracking -> telemetry_decoder";

    // Message ports
    top_block->msg_connect(nav_->get_left_block(),pmt::mp("preamble_timestamp_s"),trk_->get_right_block(),pmt::mp("preamble_timestamp_s"));
    DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";

    //std::cout<<"has port: "<<trk_->get_right_block()->has_msg_port(pmt::mp("events"))<<std::endl;
    top_block->msg_connect(acq_->get_right_block(),pmt::mp("events"), gr::basic_block_sptr(this),pmt::mp("events"));
    top_block->msg_connect(trk_->get_right_block(),pmt::mp("events"), gr::basic_block_sptr(this),pmt::mp("events"));

    connected_ = true;
}


void Channel::disconnect(gr::top_block_sptr top_block)
{
    if (!connected_)
        {
            LOG(WARNING) << "Channel already disconnected internally";
            return;
        }
    top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
    top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
    top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
    pass_through_->disconnect(top_block);
    acq_->disconnect(top_block);
    trk_->disconnect(top_block);
    nav_->disconnect(top_block);
    connected_ = false;
}

gr::basic_block_sptr Channel::get_left_block()
{
    return pass_through_->get_left_block();
}

gr::basic_block_sptr Channel::get_right_block()
{
    return nav_->get_right_block();
}


void Channel::set_signal(const Gnss_Signal& gnss_signal)
{
    gnss_signal_ = gnss_signal;
    std::string str_aux = gnss_signal_.get_signal_str();
    const char * str = str_aux.c_str(); // get a C style null terminated string
    std::memcpy((void*)gnss_synchro_.Signal, str, 3); // copy string into synchro char array: 2 char + null
    gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
    gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();
    gnss_synchro_.System = gnss_signal_.get_satellite().get_system_short().c_str()[0];
    acq_->set_local_code();
    nav_->set_satellite(gnss_signal_.get_satellite());
}

void Channel::start_acquisition()
{
    channel_fsm_.Event_start_acquisition();
}