gnss-sdr/src/core/receiver/control_thread.h

/*!
 * \file control_thread.h
 * \brief Interface of the receiver control plane
 * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
 *
 * GNSS Receiver Control Plane: connects the flowgraph, starts running it,
 * and while it does not stop, reads the control messages generated by the blocks,
 * processes them, and applies the corresponding actions.
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2018  (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 <https://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#ifndef GNSS_SDR_CONTROL_THREAD_H_
#define GNSS_SDR_CONTROL_THREAD_H_

#include "agnss_ref_location.h"       // for Agnss_Ref_Location
#include "agnss_ref_time.h"           // for Agnss_Ref_Time
#include "control_message_factory.h"  // for ControlMessage
#include "gnss_sdr_supl_client.h"     // for Gnss_Sdr_Supl_Client
#include "tcp_cmd_interface.h"        // for TcpCmdInterface
#include <armadillo>                  // for arma::vec
#include <boost/thread.hpp>           // for boost::thread
#include <gnuradio/msg_queue.h>       // for msg_queue, msg_queue::sptr
#include <ctime>                      // for time_t
#include <memory>                     // for shared_ptr
#include <string>                     // for string
#include <thread>                     // for std::thread
#include <utility>                    // for pair
#include <vector>                     // for vector

class ConfigurationInterface;
class GNSSFlowgraph;
class Gnss_Satellite;

/*!
 * \brief This class represents the main thread of the application, so the name is ControlThread.
 * This is the GNSS Receiver Control Plane: it connects the flowgraph, starts running it,
 * and while it does not stop, reads the control messages generated by the blocks,
 * processes them, and applies the corresponding actions.
 */
class ControlThread
{
public:
    /*!
     * \brief Default constructor
     */
    ControlThread();

    /*!
     * \brief Constructor that initializes the class with parameters
     *
     * \param[in] configuration Pointer to a ConfigurationInterface
     */
    ControlThread(std::shared_ptr<ConfigurationInterface> configuration);

    //! \brief Destructor
    ~ControlThread();

    /*! \brief Runs the control thread
     *
     *  This is the main loop that reads and process the control messages:
     *
     *  - Connect the GNSS receiver flowgraph;
     *
     *  - Start the GNSS receiver flowgraph;
     *
     *  while (flowgraph_->running() && !stop_){
     *
     *  - Read control messages and process them; }
     */
    int run();

    /*!
     * \brief Sets the control_queue
     *
     * \param[in] boost::shared_ptr<gr::msg_queue> control_queue
     */
    void set_control_queue(const gr::msg_queue::sptr control_queue);  // NOLINT(performance-unnecessary-value-param)

    unsigned int processed_control_messages()
    {
        return processed_control_messages_;
    }

    unsigned int applied_actions()
    {
        return applied_actions_;
    }

    /*!
     * \brief Instantiates a flowgraph
     *
     * \return Returns a smart pointer to a flowgraph object
     */
    std::shared_ptr<GNSSFlowgraph> flowgraph()
    {
        return flowgraph_;
    }

private:
    //Telecommand TCP interface
    TcpCmdInterface cmd_interface_;
    void telecommand_listener();
    std::thread cmd_interface_thread_;
    //SUPL assistance classes
    Gnss_Sdr_Supl_Client supl_client_acquisition_;
    Gnss_Sdr_Supl_Client supl_client_ephemeris_;
    int supl_mcc;  // Current network MCC (Mobile country code), 3 digits.
    int supl_mns;  // Current network MNC (Mobile Network code), 2 or 3 digits.
    int supl_lac;  // Current network LAC (Location area code),16 bits, 1-65520 are valid values.
    int supl_ci;   // Cell Identity (16 bits, 0-65535 are valid values).

    void init();

    // Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded
    bool read_assistance_from_XML();

    // Save {ephemeris, iono, utc, ref loc, ref time} assistance to a local XML file
    //bool save_assistance_to_XML();

    void read_control_messages();

    void process_control_messages();

    /*
     * Blocking function that reads the GPS assistance queue
     */
    void gps_acq_assist_data_collector();

    /*
     * Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
     * returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
     */
    std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec& LLH);

    /*
     * Read initial GNSS assistance from SUPL server or local XML files
     */
    void assist_GNSS();

    void apply_action(unsigned int what);
    std::shared_ptr<GNSSFlowgraph> flowgraph_;
    std::shared_ptr<ConfigurationInterface> configuration_;
    gr::msg_queue::sptr control_queue_;
    std::shared_ptr<ControlMessageFactory> control_message_factory_;
    std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages_;
    bool stop_;
    bool restart_;
    bool delete_configuration_;
    unsigned int processed_control_messages_;
    unsigned int applied_actions_;

    boost::thread fpga_helper_thread_;

    std::thread keyboard_thread_;
    std::thread sysv_queue_thread_;
    std::thread gps_acq_assist_data_collector_thread_;

    void keyboard_listener();
    void sysv_queue_listener();
    int msqid;

    // default filename for assistance data
    const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
    const std::string utc_default_xml_filename = "./gps_utc_model.xml";
    const std::string iono_default_xml_filename = "./gps_iono.xml";
    const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
    const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
    const std::string eph_gal_default_xml_filename = "./gal_ephemeris.xml";
    const std::string eph_cnav_default_xml_filename = "./gps_cnav_ephemeris.xml";
    const std::string gal_iono_default_xml_filename = "./gal_iono.xml";
    const std::string gal_utc_default_xml_filename = "./gal_utc_model.xml";
    const std::string cnav_utc_default_xml_filename = "./gps_cnav_utc_model.xml";
    const std::string eph_glo_gnav_default_xml_filename = "./glo_gnav_ephemeris.xml";
    const std::string glo_utc_default_xml_filename = "./glo_utc_model.xml";
    const std::string gal_almanac_default_xml_filename = "./gal_almanac.xml";
    const std::string gps_almanac_default_xml_filename = "./gps_almanac.xml";

    Agnss_Ref_Location agnss_ref_location_;
    Agnss_Ref_Time agnss_ref_time_;
};

#endif /*GNSS_SDR_CONTROL_THREAD_H_*/