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

/*!
 * \file control_thread.cc
 * \brief This class implements 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,
 * process them, and apply the corresponding actions.
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2014  (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 "control_thread.h"
#include <unistd.h>
#include <map>
#include <string>
#include <iostream>
#include <boost/lexical_cast.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/message.h>
#include <gflags/gflags.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "gps_almanac.h"
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "galileo_almanac.h"
#include "concurrent_queue.h"
#include "concurrent_map.h"
#include "gnss_flowgraph.h"
#include "file_configuration.h"
#include "control_message_factory.h"



extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
extern concurrent_map<Gps_Iono> global_gps_iono_map;
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
extern concurrent_map<Gps_Almanac> global_gps_almanac_map;
extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;

extern concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
extern concurrent_queue<Gps_Iono> global_gps_iono_queue;
extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
extern concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;

extern concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
extern concurrent_map<Galileo_Iono> global_galileo_iono_map;
extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
extern concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
//extern concurrent_map<Galileo_Acq_Assist> global_gps_acq_assist_map;

extern concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
extern concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
extern concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
extern concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
//extern concurrent_queue<Galileo_Acq_Assist> global_gps_acq_assist_queue;


using google::LogMessage;

DEFINE_string(config_file, "../conf/gnss-sdr.conf",
		"Path to the file containing the configuration parameters");

ControlThread::ControlThread()
{
    configuration_ = new FileConfiguration(FLAGS_config_file);
    delete_configuration_ = true;
    init();
}


ControlThread::ControlThread(ConfigurationInterface *configuration)
{
    configuration_ = configuration;
    delete_configuration_ = false;
    init();
}



ControlThread::~ControlThread()
{
    // save navigation data to files
    gps_ephemeris_data_write_to_XML();
    gps_iono_data_write_to_XML();
    gps_utc_model_data_write_to_XML();

    delete flowgraph_;
    if (delete_configuration_) delete configuration_;
    delete control_message_factory_;
}



/*
 * Runs the control thread that manages the receiver control plane
 *
 * This is the main loop that reads and process the control messages
 * 1- Connect the GNSS receiver flowgraph
 * 2- Start the GNSS receiver flowgraph
 *    while (flowgraph_->running() && !stop)_{
 * 3- Read control messages and process them }
 */
void ControlThread::run()
{
    // Connect the flowgraph
    flowgraph_->connect();
    if (flowgraph_->connected())
        {
            LOG_AT_LEVEL(INFO) << "Flowgraph connected";
        }
    else
        {
            LOG_AT_LEVEL(ERROR) << "Unable to connect flowgraph";
            return;
        }
    // Start the flowgraph
    flowgraph_->start();
    if (flowgraph_->running())
        {
            LOG_AT_LEVEL(INFO) << "Flowgraph started";
        }
    else
        {
            LOG_AT_LEVEL(ERROR) << "Unable to start flowgraph";
            return;
        }
    // start the keyboard_listener thread
    keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);

    //start the GNSS SV data collector thread
    gps_ephemeris_data_collector_thread_ = boost::thread(&ControlThread::gps_ephemeris_data_collector, this);
    gps_iono_data_collector_thread_ = boost::thread(&ControlThread::gps_iono_data_collector, this);
    gps_utc_model_data_collector_thread_ = boost::thread(&ControlThread::gps_utc_model_data_collector, this);
    gps_acq_assist_data_collector_thread_= boost::thread(&ControlThread::gps_acq_assist_data_collector, this);

    galileo_ephemeris_data_collector_thread_ = boost::thread(&ControlThread::galileo_ephemeris_data_collector, this);
    galileo_iono_data_collector_thread_ = boost::thread(&ControlThread::galileo_iono_data_collector, this);
    galileo_utc_model_data_collector_thread_ = boost::thread(&ControlThread::galileo_utc_model_data_collector, this);
    // Main loop to read and process the control messages
    while (flowgraph_->running() && !stop_)
        {
            //TODO re-enable the blocking read messages functions and fork the process
            read_control_messages();
            if (control_messages_ != 0) process_control_messages();
        }
    std::cout << "Stopping GNSS-SDR, please wait!" << std::endl;
    flowgraph_->stop();

    // Join GPS threads
    gps_ephemeris_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
    gps_iono_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
    gps_utc_model_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
    gps_acq_assist_data_collector_thread_.timed_join(boost::posix_time::seconds(1));

    //Join Galileo threads
    galileo_ephemeris_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
    galileo_iono_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
    galileo_utc_model_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
    //Join keyboard threads
    keyboard_thread_.timed_join(boost::posix_time::seconds(1));

    LOG_AT_LEVEL(INFO) << "Flowgraph stopped";
}



void ControlThread::set_control_queue(boost::shared_ptr<gr::msg_queue> control_queue)
{
    if (flowgraph_->running())
        {
            LOG_AT_LEVEL(WARNING) << "Unable to set control queue while flowgraph is running";
            return;
        }
    control_queue_ = control_queue;
}



bool ControlThread::read_assistance_from_XML()
{
    std::string eph_xml_filename = "gps_ephemeris.xml";
    std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
    if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
        {
            std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
            for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
                    gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
                    gps_eph_iter++)
                {
                    std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
                    global_gps_ephemeris_queue.push(gps_eph_iter->second);
                }
            return false;
        }
    else
        {
            std::cout << "ERROR: SUPL client error reading XML" << std::endl;
            std::cout << "Disabling SUPL assistance.." << std::endl;
            return false;
        }
}



void ControlThread::init()
{
    // Instantiates a control queue, a GNSS flowgraph, and a control message factory
    control_queue_ = gr::msg_queue::make(0);
    flowgraph_ = new GNSSFlowgraph(configuration_, control_queue_);
    control_message_factory_ = new ControlMessageFactory();
    stop_ = false;
    processed_control_messages_ = 0;
    applied_actions_ = 0;

    //######### GNSS Assistance #################################
    // GNSS Assistance configuration
    bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
    if (enable_gps_supl_assistance == true)
        //SUPL SERVER TEST. Not operational yet!
        {
            std::cout << "SUPL RRLP GPS assistance enabled!" << std::endl;
            std::string default_acq_server = "supl.nokia.com";
            std::string default_eph_server = "supl.google.com";
            supl_client_ephemeris_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server", default_acq_server);
            supl_client_acquisition_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_acquisition_server", default_eph_server);
            supl_client_ephemeris_.server_port = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_port", 7275);
            supl_client_acquisition_.server_port = configuration_->property("GNSS-SDR.SUPL_gps_acquisition_port", 7275);
            supl_mcc = configuration_->property("GNSS-SDR.SUPL_MCC", 244);
            supl_mns = configuration_->property("GNSS-SDR.SUPL_MNS", 5);

            std::string default_lac = "0x59e2";
            std::string default_ci = "0x31b0";
            try
            {
                    supl_lac = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_LAC", default_lac));
            }
            catch(boost::bad_lexical_cast &)
            {
                    supl_lac = 0x59e2;
            }

            try
            {
                    supl_ci = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_CI", default_ci));
            }
            catch(boost::bad_lexical_cast &)
            {
                    supl_ci = 0x31b0;
            }

            bool SUPL_read_gps_assistance_xml = configuration_->property("GNSS-SDR.SUPL_read_gps_assistance_xml", false);
            if (SUPL_read_gps_assistance_xml == true)
                {
                    // read assistance from file
                    read_assistance_from_XML();
                }
            else
                {
                    // Request ephemeris from SUPL server
                    int error;
                    supl_client_ephemeris_.request = 1;
                    std::cout << "SUPL: Try to read GPS ephemeris from SUPL server.." << std::endl;
                    error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
                    if (error == 0)
                        {
                            std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
                            for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
                                    gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
                                    gps_eph_iter++)
                                {
                                    std::cout << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
                                    global_gps_ephemeris_queue.push(gps_eph_iter->second);
                                }
                            //Save ephemeris to XML file
                            std::string eph_xml_filename = "gps_ephemeris.xml";
                            if (supl_client_ephemeris_.save_ephemeris_xml(eph_xml_filename) == true)
                                {
                                    std::cout << "SUPL: XML Ephemeris file created" << std::endl;
                                }
                        }
                    else
                        {
                            std::cout << "ERROR: SUPL client for Ephemeris returned " << error << std::endl;
                            std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
                            std::cout << "Trying to read ephemeris from XML file" << std::endl;
                            if (read_assistance_from_XML() == false)
                                {
                                    std::cout << "ERROR: Could not read Ephemeris file: Disabling SUPL assistance.." << std::endl;
                                }
                        }

                    // Request almanac , IONO and UTC Model
                    supl_client_ephemeris_.request = 0;
                    std::cout << "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server..." << std::endl;
                    error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
                    if (error == 0)
                        {
                            std::map<int,Gps_Almanac>::iterator gps_alm_iter;
                            for(gps_alm_iter = supl_client_ephemeris_.gps_almanac_map.begin();
                                    gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.end();
                                    gps_alm_iter++)
                                {
                                    std::cout << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first << std::endl;
                                    global_gps_almanac_queue.push(gps_alm_iter->second);
                                }
                            if (supl_client_ephemeris_.gps_iono.valid == true)
                                {
                                    std::cout << "SUPL: Received GPS Iono" << std::endl;
                                    global_gps_iono_queue.push(supl_client_ephemeris_.gps_iono);
                                }
                            if (supl_client_ephemeris_.gps_utc.valid == true)
                                {
                                    std::cout << "SUPL: Received GPS UTC Model" << std::endl;
                                    global_gps_utc_model_queue.push(supl_client_ephemeris_.gps_utc);
                                }
                        }
                    else
                        {
                            std::cout << "ERROR: SUPL client for Almanac returned " << error << std::endl;
                            std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
                            std::cout << "Disabling SUPL assistance.." << std::endl;
                        }

                    // Request acquisition assistance
                    supl_client_acquisition_.request = 2;
                    std::cout << "SUPL: Try read Acquisition assistance from SUPL server.." << std::endl;
                    error = supl_client_acquisition_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
                    if (error == 0)
                        {
                            std::map<int, Gps_Acq_Assist>::iterator gps_acq_iter;
                            for(gps_acq_iter = supl_client_acquisition_.gps_acq_map.begin();
                                    gps_acq_iter != supl_client_acquisition_.gps_acq_map.end();
                                    gps_acq_iter++)
                                {
                                    std::cout << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first << std::endl;
                                    global_gps_acq_assist_queue.push(gps_acq_iter->second);
                                }
                        }
                    else
                        {
                            std::cout << "ERROR: SUPL client for Acquisition assistance returned " << error << std::endl;
                            std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
                            std::cout << "Disabling SUPL assistance.." << std::endl;
                        }
                }
        }
}




void ControlThread::read_control_messages()
{
    DLOG(INFO) << "Reading control messages from queue";
    boost::shared_ptr<gr::message> queue_message = control_queue_->delete_head();
    if (queue_message != 0)
        {
            control_messages_ = control_message_factory_->GetControlMessages(queue_message);
        }
    else
        {
            control_messages_ = 0;
        }
}


// Apply the corresponding control actions
// TODO:  May be it is better to move the apply_action state machine to the control_thread
void ControlThread::process_control_messages()
{
    for (unsigned int i = 0; i < control_messages_->size(); i++)
        {
            if (stop_) break;
            if (control_messages_->at(i)->who == 200)
                {
                    apply_action(control_messages_->at(i)->what);
                }
            else
                {
                    flowgraph_->apply_action(control_messages_->at(i)->who, control_messages_->at(i)->what);
                }
            delete control_messages_->at(i);
            processed_control_messages_++;
        }
    control_messages_->clear();
    delete control_messages_;
    DLOG(INFO) << "Processed all control messages";
}



void ControlThread::apply_action(unsigned int what)
{
    switch (what)
    {
    case 0:
        DLOG(INFO) << "Received action STOP";
        stop_ = true;
        applied_actions_++;
        break;
    default:
        DLOG(INFO) << "Unrecognized action.";
        break;
    }
}





void ControlThread::gps_acq_assist_data_collector()
{
    // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
    Gps_Acq_Assist gps_acq;
    Gps_Acq_Assist gps_acq_old;
    while(stop_ == false)
        {
            global_gps_acq_assist_queue.wait_and_pop(gps_acq);

            // DEBUG MESSAGE
            std::cout << "Acquisition assistance record has arrived from SAT ID "
                      << gps_acq.i_satellite_PRN
                      << " with Doppler "
                      << gps_acq.d_Doppler0
                      << " [Hz] "<< std::endl;
            // insert new acq record to the global ephemeris map
            if (global_gps_acq_assist_map.read(gps_acq.i_satellite_PRN,gps_acq_old))
                {
                    std::cout << "Acquisition assistance record updated" << std::endl;
                    global_gps_acq_assist_map.write(gps_acq.i_satellite_PRN, gps_acq);

                }
            else
                {
                    // insert new acq record
                    std::cout << "New acq assist record inserted" << std::endl;
                    global_gps_acq_assist_map.write(gps_acq.i_satellite_PRN, gps_acq);
                }
        }
}


void ControlThread::gps_ephemeris_data_collector()
{
    // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
    Gps_Ephemeris gps_eph;
    Gps_Ephemeris gps_eph_old;
    while(stop_ == false)
        {
            global_gps_ephemeris_queue.wait_and_pop(gps_eph);

            // DEBUG MESSAGE
            std::cout << "Ephemeris record has arrived from SAT ID "
                      << gps_eph.i_satellite_PRN << " (Block "
                      <<  gps_eph.satelliteBlock[gps_eph.i_satellite_PRN]
                      << ")" << std::endl;
            // insert new ephemeris record to the global ephemeris map
            if (global_gps_ephemeris_map.read(gps_eph.i_satellite_PRN, gps_eph_old))
                {
                    // Check the EPHEMERIS timestamp. If it is newer, then update the ephemeris
                    if (gps_eph.i_GPS_week > gps_eph_old.i_GPS_week)
                        {
                            std::cout << "Ephemeris record updated (GPS week=" << gps_eph.i_GPS_week << std::endl;
                            global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN, gps_eph);
                        }
                    else
                        {
                            if (gps_eph.d_Toe > gps_eph_old.d_Toe)
                                {
                                    std::cout << "Ephemeris record updated (Toe=" << gps_eph.d_Toe << std::endl;
                                    global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN, gps_eph);
                                }
                            else
                                {
                                    std::cout << "Not updating the existing ephemeris" << std::endl;
                                }
                        }
                }
            else
                {
                    // insert new ephemeris record
                    std::cout << "New Ephemeris record inserted with Toe="
                              << gps_eph.d_Toe<<" and GPS Week="
                              << gps_eph.i_GPS_week << std::endl;
                    global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN, gps_eph);
                }
        }
}


void ControlThread::galileo_ephemeris_data_collector()
{
    // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
    Galileo_Ephemeris galileo_eph;
    Galileo_Ephemeris galileo_eph_old;
    while(stop_ == false)
        {
            global_galileo_ephemeris_queue.wait_and_pop(galileo_eph);

            // DEBUG MESSAGE
            std::cout << "Galileo Ephemeris record has arrived from SAT ID "
                      << galileo_eph.SV_ID_PRN_4 << std::endl;

            // insert new ephemeris record to the global ephemeris map
            if (global_galileo_ephemeris_map.read(galileo_eph.SV_ID_PRN_4, galileo_eph_old))
                {
                    // Check the EPHEMERIS timestamp. If it is newer, then update the ephemeris
                    if (galileo_eph.WN_5 > galileo_eph_old.WN_5) //further check because it is not clear when IOD is reset
                        {
                            std::cout << "Galileo Ephemeris record in global map updated -- GALILEO Week Number ="
                                      << galileo_eph.WN_5 << std::endl;
                            global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4,galileo_eph);
                        }
                    else
                        {
                            if (galileo_eph.IOD_ephemeris > galileo_eph_old.IOD_ephemeris)
                                {
                                    std::cout << "Galileo Ephemeris record updated in global map-- IOD_ephemeris ="
                                              << galileo_eph.IOD_ephemeris << std::endl;
                                    global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4, galileo_eph);
                                    std::cout << "IOD_ephemeris OLD: " << galileo_eph_old.IOD_ephemeris << std::endl;
                                    std::cout << "satellite: " << galileo_eph.SV_ID_PRN_4 << std::endl;
                                }
                            else
                                {
                                    std::cout << "Not updating the existing Galileo ephemeris, IOD is not changing" << std::endl;
                                }
                        }
                }
            else
                {
                    // insert new ephemeris record
                    std::cout << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph.TOW_5
                              << ", GALILEO Week Number =" << galileo_eph.WN_5
                              << " and Ephemeris IOD = " << galileo_eph.IOD_ephemeris << std::endl;
                    global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4, galileo_eph);
                }
        }

}


void ControlThread::gps_iono_data_collector()
{
    // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
    Gps_Iono gps_iono;
    Gps_Iono gps_iono_old;
    while(stop_ == false)
        {
            global_gps_iono_queue.wait_and_pop(gps_iono);

            std::cout << "New IONO record has arrived " << std::endl;
            // insert new ephemeris record to the global ephemeris map
            if (global_gps_iono_map.read(0, gps_iono_old))
                {
                    // TODO: Check the IONO timestamp. If it is newer, then update the iono
                    global_gps_iono_map.write(0, gps_iono);
                }
            else
                {
                    // insert new ephemeris record
                    global_gps_iono_map.write(0 ,gps_iono);
                }
        }
}



void ControlThread::galileo_iono_data_collector()
{
    Galileo_Iono galileo_iono;
    Galileo_Iono galileo_iono_old;
    while(stop_ == false)
        {
            global_galileo_iono_queue.wait_and_pop(galileo_iono);

            // DEBUG MESSAGE
            std::cout << "Iono record has arrived" << std::endl;

            // insert new Iono record to the global Iono map
            if (global_galileo_iono_map.read(0, galileo_iono_old))
                {
                    // Check the Iono timestamp from UTC page (page 6). If it is newer, then update the Iono parameters
                    if (galileo_iono.WN_5 > galileo_iono_old.WN_5)
                        {
                            std::cout << "IONO record updated in global map--new GALILEO UTC-IONO Week Number" << std::endl;
                            global_galileo_iono_map.write(0, galileo_iono);
                        }
                    else
                        {
                            if (galileo_iono.TOW_5 > galileo_iono_old.TOW_5)
                                {
                                    std::cout << "IONO record updated in global map--new GALILEO UTC-IONO time of Week" << std::endl;
                                    global_galileo_iono_map.write(0, galileo_iono);
                                    //std::cout << "GALILEO IONO time of Week old: " << galileo_iono_old.t0t_6<<std::endl;
                                }
                            else
                                {
                                    std::cout << "Not updating the existing Iono parameters in global map, Iono timestamp is not changing" << std::endl;
                                }
                        }
                }
            else
                {
                    // insert new ephemeris record
                    std::cout << "New IONO record inserted in global map" << std::endl;
                    global_galileo_iono_map.write(0, galileo_iono);
                }
        }
}


void ControlThread::gps_utc_model_data_collector()
{
    // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
    Gps_Utc_Model gps_utc;
    Gps_Utc_Model gps_utc_old;
    while(stop_ == false)
        {
            global_gps_utc_model_queue.wait_and_pop(gps_utc);
            std::cout << "New UTC MODEL record has arrived with A0=" << gps_utc.d_A0 << std::endl;
            // insert new ephemeris record to the global ephemeris map
            if (global_gps_utc_model_map.read(0, gps_utc_old))
                {
                    // TODO: Check the UTC MODEL timestamp. If it is newer, then update the UTC MODEL
                    global_gps_utc_model_map.write(0, gps_utc);
                }
            else
                {
                    // insert new ephemeris record
                    global_gps_utc_model_map.write(0, gps_utc);
                }
        }
}



void ControlThread::galileo_utc_model_data_collector()
{
    Galileo_Utc_Model galileo_utc;
    Galileo_Utc_Model galileo_utc_old;
    while(stop_ == false)
        {
            global_galileo_utc_model_queue.wait_and_pop(galileo_utc);

            // DEBUG MESSAGE
            std::cout << "UTC record has arrived" << std::endl;

            // insert new UTC record to the global UTC map
            if (global_galileo_utc_model_map.read(0, galileo_utc_old))
                {
                    // Check the UTC timestamp. If it is newer, then update the ephemeris
                    if (galileo_utc.WNot_6 > galileo_utc_old.WNot_6) //further check because it is not clear when IOD is reset
                        {
                            //std::cout << "UTC record updated --new GALILEO UTC Week Number ="<<galileo_utc.WNot_6<<std::endl;
                            global_galileo_utc_model_map.write(0, galileo_utc);
                        }
                    else
                        {
                            if (galileo_utc.t0t_6 > galileo_utc_old.t0t_6)
                                {
                                    //std::cout << "UTC record updated --new GALILEO UTC time of Week ="<<galileo_utc.t0t_6<<std::endl;
                                    global_galileo_utc_model_map.write(0, galileo_utc);
                                    //std::cout << "GALILEO UTC time of Week old: " << galileo_utc_old.t0t_6<<std::endl;
                                }
                            else
                                {
                                    std::cout << "Not updating the existing UTC in global map, timestamp is not changing" << std::endl;
                                }
                        }
                }
            else
                {
                    // insert new ephemeris record
                    std::cout << "New UTC record inserted in global map" << std::endl;
                    global_galileo_utc_model_map.write(0, galileo_utc);
                }
        }
}



void ControlThread::gps_ephemeris_data_write_to_XML()
{
    //Save ephemeris to XML file
    std::string eph_xml_filename = "gps_ephemeris_rx.xml";
    std::map<int,Gps_Ephemeris> eph_copy;

    eph_copy = global_gps_ephemeris_map.get_map_copy();
    if (eph_copy.size() > 0)
        {
            try
            {
                    std::ofstream ofs(eph_xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
                    boost::archive::xml_oarchive xml(ofs);
                    xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_copy);
                    ofs.close();
                    std::cout << "Saved Ephemeris data" << std::endl;
            }
            catch (std::exception& e)
            {
                    LOG_AT_LEVEL(ERROR) << e.what();
            }
        }
}



void ControlThread::gps_utc_model_data_write_to_XML()
{
    //Save ephemeris to XML file
    std::string xml_filename = "gps_utc_model_rx.xml";
    std::map<int,Gps_Utc_Model> map_copy;

    map_copy = global_gps_utc_model_map.get_map_copy();
    if (map_copy.size() > 0)
        {
            try
            {
                    std::ofstream ofs(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
                    boost::archive::xml_oarchive xml(ofs);
                    xml << boost::serialization::make_nvp("GNSS-SDR_utc_map", map_copy);
                    ofs.close();
                    std::cout << "Saved UTC Model data" << std::endl;
            }
            catch (std::exception& e)
            {
                    LOG_AT_LEVEL(ERROR) << e.what();
            }
        }
}




void ControlThread::gps_iono_data_write_to_XML()
{
    //Save ephemeris to XML file
    std::string xml_filename = "gps_iono_rx.xml";
    std::map<int,Gps_Iono> map_copy;
    std::map<int,Gps_Iono>::iterator gps_iono_iter;

    map_copy = global_gps_iono_map.get_map_copy();
    if (map_copy.size() > 0)
        {
            try
            {
                    std::ofstream ofs(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
                    boost::archive::xml_oarchive xml(ofs);
                    xml << boost::serialization::make_nvp("GNSS-SDR_iono_map", map_copy);
                    ofs.close();
                    std::cout << "Saved IONO Model data" << std::endl;
            }
            catch (std::exception& e)
            {
                    LOG_AT_LEVEL(ERROR) << e.what();
            }
        }
}


void ControlThread::keyboard_listener()
{
    bool read_keys = true;
    char c;
    while(read_keys)
        {
            c = std::cin.get();
            if (c =='q')
                {
                    std::cout << "Quit keystroke order received, stopping GNSS-SDR !!" << std::endl;
                    ControlMessageFactory* cmf = new ControlMessageFactory();
                    if (control_queue_ != gr::msg_queue::sptr())
                        {
                            control_queue_->handle(cmf->GetQueueMessage(200, 0));
                        }
                    delete cmf;
                    read_keys = false;
                }
        }
}