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

/*!
 * \file gnss_flowgraph.cc
 * \brief Brief description of the file here
 * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
 *         Luis Esteve, 2011. luis(at)epsilon-formacion.com
 *
 * Detailed description of the file here if needed.
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2011  (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 "gnss_flowgraph.h"

#include <exception>
#include "unistd.h"

#include <glog/log_severity.h>
#include <glog/logging.h>

#include "configuration_interface.h"
#include "gnss_block_interface.h"
#include "channel_interface.h"
#include "gnss_block_factory.h"

using google::LogMessage;

GNSSFlowgraph::GNSSFlowgraph(ConfigurationInterface *configuration,
        gr_msg_queue_sptr queue)
{

    connected_ = false;
    running_ = false;
    configuration_ = configuration;
    blocks_ = new std::vector<GNSSBlockInterface*>();
    block_factory_ = new GNSSBlockFactory();
    queue_ = queue;
    available_GPS_satellites_IDs_ = new std::list<unsigned int>();
    init();
}

GNSSFlowgraph::~GNSSFlowgraph()
{

    delete block_factory_;

    for (unsigned int i = 0; i < blocks_->size(); i++)
    {
        delete blocks_->at(i);
    }
    blocks_->clear();

    delete blocks_;
}

void GNSSFlowgraph::start()
{
    if (running_)
    {
        LOG_AT_LEVEL(WARNING) << "Already running";
        return;
    }

    try
    {
        top_block_->start();
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Unable to start flowgraph";
        LOG_AT_LEVEL(ERROR) << e.what();
        return;
    }

    running_ = true;
}

void GNSSFlowgraph::stop()
{
    for (unsigned int i = 0; i < channels_count_; i++)
    {
        channel(i)->stop();
    }
    DLOG(INFO) << "Threads finished. Return to main program.";
    top_block_->stop();
    running_ = false;
}

void GNSSFlowgraph::connect()
{
    DLOG(INFO) << "Connecting flowgraph";
    if (connected_)
    {
        LOG_AT_LEVEL(WARNING) << "flowgraph already connected";
        return;
    }

    // Connect GNSS block internally
    try
    {
        signal_source()->connect(top_block_);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Can't connect signal source block internally";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    try
    {
        signal_conditioner()->connect(top_block_);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR)
                << "Can't connect signal conditioner block internally";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    for (unsigned int i = 0; i < channels_count_; i++)
    {
        try
        {
            channel(i)->connect(top_block_);
        }
        catch (std::exception& e)
        {
            LOG_AT_LEVEL(ERROR) << "Can't connect channel " << i
                    << " internally";
            LOG_AT_LEVEL(ERROR) << e.what();
            top_block_->disconnect_all();
            return;
        }
    }

    try
    {
        observables()->connect(top_block_);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Can't connect observables block internally";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    try
    {
        pvt()->connect(top_block_);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Can't connect PVT block internally";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    try
    {
        output_filter()->connect(top_block_);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Can't connect output filter block internally";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    DLOG(INFO) << "blocks connected internally";

    try
    {
        top_block_->connect(signal_source()->get_right_block(), 0,
                signal_conditioner()->get_left_block(), 0);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR)
                << "Can't connect signal source to signal conditioner";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }
    DLOG(INFO) << "Signal source connected to signal conditioner";

    for (unsigned int i = 0; i < channels_count_; i++)
    {
        try
        {
            top_block_->connect(signal_conditioner()->get_right_block(), 0,
                    channel(i)->get_left_block(), 0);
        }
        catch (std::exception& e)
        {
            LOG_AT_LEVEL(ERROR)
                    << "Can't connect signal conditioner to channel " << i;
            LOG_AT_LEVEL(ERROR) << e.what();
            top_block_->disconnect_all();
            return;
        }

        DLOG(INFO) << "signal conditioner connected to channel " << i;

        try
        {
            top_block_->connect(channel(i)->get_right_block(), 0,
                    observables()->get_left_block(), i);
        }
        catch (std::exception& e)
        {
            LOG_AT_LEVEL(ERROR) << "Can't connect channel " << i
                    << " to observables";
            LOG_AT_LEVEL(ERROR) << e.what();
            top_block_->disconnect_all();
            return;
        }

        channel(i)->set_satellite(available_GPS_satellites_IDs_->front());
        std::cout << "Channel " << i << " satellite "
                << available_GPS_satellites_IDs_->front() << std::endl;
        available_GPS_satellites_IDs_->pop_front();
        channel(i)->start();
        //channel(i)->start_acquisition();

        DLOG(INFO) << "Channel " << i
                << " connected to observables and ready for acquisition";
    }
    /*!
     * Enabled the observables multichannel output connection to PVT
     */
    try
    {
        for (unsigned int i = 0; i < channels_count_; i++)
        {
        	top_block_->connect(observables()->get_right_block(), i,
                pvt()->get_left_block(), i);
        }
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Can't connect observables to PVT";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    try
    {
        top_block_->connect(pvt()->get_right_block(), 0,
                output_filter()->get_left_block(), 0);
    }
    catch (std::exception& e)
    {
        LOG_AT_LEVEL(ERROR) << "Can't connect PVT to output filter";
        LOG_AT_LEVEL(ERROR) << e.what();
        top_block_->disconnect_all();
        return;
    }

    DLOG(INFO) << "PVT connected to output filter";

    connected_ = true;
    DLOG(INFO) << "Flowgraph connected";
    top_block_->dump();

}

void GNSSFlowgraph::wait()
{
    if (!running_)
    {
        LOG_AT_LEVEL(WARNING) << "Can't apply wait. Flowgraph is not running";
        return;
    }
    top_block_->wait();
    DLOG(INFO) << "Flowgraph finished calculations";
    running_ = false;
}

void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{

    DLOG(INFO) << "received " << what << " from " << who;

    switch (what)
    {
        case 0:

            LOG_AT_LEVEL(INFO) << "Channel " << who
                    << " ACQ FAILED satellite " << channel(who)->satellite();
            available_GPS_satellites_IDs_->push_back(
                    channel(who)->satellite());
            channel(who)->set_satellite(
                    available_GPS_satellites_IDs_->front());
            available_GPS_satellites_IDs_->pop_front();
            channel(who)->start_acquisition();
            break;
            // TODO: Tracking messages

        default:
            break;
    }

    DLOG(INFO) << "available channels "
            << available_GPS_satellites_IDs_->size();
}

void GNSSFlowgraph::set_configuration(ConfigurationInterface* configuration)
{
    if (running_)
    {
        LOG_AT_LEVEL(WARNING)
                << "Unable to update configuration while flowgraph running";
        return;
    }

    if (connected_)
    {
        LOG_AT_LEVEL(WARNING)
                << "Unable to update configuration while flowgraph connected";
    }

    configuration_ = configuration;
}

GNSSBlockInterface* GNSSFlowgraph::signal_source()
{
    return blocks_->at(0);
}

GNSSBlockInterface* GNSSFlowgraph::signal_conditioner()
{
    return blocks_->at(1);
}

ChannelInterface* GNSSFlowgraph::channel(unsigned int index)
{
    return (ChannelInterface*)blocks_->at(index + 5);
}

GNSSBlockInterface* GNSSFlowgraph::observables()
{
    return blocks_->at(2);
}

GNSSBlockInterface* GNSSFlowgraph::pvt()
{
    return blocks_->at(3);
}

GNSSBlockInterface* GNSSFlowgraph::output_filter()
{
    return blocks_->at(4);
}

void GNSSFlowgraph::init()
{

    blocks_->push_back(
            block_factory_->GetSignalSource(configuration_, queue_));
    blocks_->push_back(block_factory_->GetSignalConditioner(configuration_,
            queue_));
    blocks_->push_back(block_factory_->GetObservables(configuration_, queue_));
    blocks_->push_back(block_factory_->GetPVT(configuration_, queue_));
    blocks_->push_back(
            block_factory_->GetOutputFilter(configuration_, queue_));

    std::vector<GNSSBlockInterface*>* channels = block_factory_->GetChannels(
            configuration_, queue_);

    channels_count_ = channels->size();

    for (unsigned int i = 0; i < channels_count_; i++)
    {
        blocks_->push_back(channels->at(i));
    }

    top_block_ = gr_make_top_block("GNSSFlowgraph");

    delete channels;

    // fill the available_GPS_satellites_IDs_ queue with the satellites ID's to be searched by the acquisition

    set_satellites_list();

    applied_actions_ = 0;

    DLOG(INFO) << "Blocks instantiated. " << channels_count_
            << " channels.";
}

void GNSSFlowgraph::set_satellites_list()
{

    for (unsigned int id = 1; id < 33; id++)
    {
        available_GPS_satellites_IDs_->push_back(id);
    }

    std::list<unsigned int>::iterator it =
            available_GPS_satellites_IDs_->begin();

    for (unsigned int i = 0; i < channels_count_; i++)
    {
        unsigned int sat = configuration_->property("Acquisition"
                + boost::lexical_cast<std::string>(i) + ".satellite", 0);
        if ((sat == 0) || (sat==*it)) // 0 = not PRN in configuration file
        {
            it++;
        }
        else
        {
            available_GPS_satellites_IDs_->remove(sat);
            available_GPS_satellites_IDs_->insert(it, sat);
        }
    }

//    std::cout << "Cola de satélites: ";
//    for (std::list<unsigned int>::iterator it =
//            available_GPS_satellites_IDs_->begin(); it
//            != available_GPS_satellites_IDs_->end(); it++)
//    {
//        std::cout << *it << ", ";
//    }
//    std::cout << std::endl;

}

void GNSSFlowgraph::apply_action(unsigned int what)
{
    DLOG(INFO) << "Applied action " << what << " to flowgraph";
    applied_actions_++;
}