2015-05-21 09:29:56 +00:00
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/*!
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* \file channel_fsm.cc
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* \brief Implementation of a State Machine for channel using boost::statechart
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* \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "channel_fsm.h"
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#include <memory>
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2016-01-05 14:35:33 +00:00
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#include <boost/statechart/simple_state.hpp>
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#include <boost/statechart/state.hpp>
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#include <boost/statechart/transition.hpp>
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#include <boost/statechart/custom_reaction.hpp>
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#include <boost/mpl/list.hpp>
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2015-05-21 09:29:56 +00:00
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#include <glog/logging.h>
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#include "control_message_factory.h"
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struct Ev_channel_start_acquisition: sc::event<Ev_channel_start_acquisition>
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{};
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struct Ev_channel_valid_acquisition: sc::event<Ev_channel_valid_acquisition>
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{};
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struct Ev_channel_failed_acquisition_repeat: sc::event<Ev_channel_failed_acquisition_repeat>
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{};
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struct Ev_channel_failed_acquisition_no_repeat: sc::event<Ev_channel_failed_acquisition_no_repeat>
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{};
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struct Ev_channel_failed_tracking_standby: sc::event<Ev_channel_failed_tracking_standby>
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{};
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//struct Ev_channel_failed_tracking_reacq: sc::event<Ev_channel_failed_tracking_reacq>
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//{};
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struct channel_idle_fsm_S0: public sc::state<channel_idle_fsm_S0, ChannelFsm>
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{
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public:
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// sc::transition(event, next state)
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typedef sc::transition<Ev_channel_start_acquisition, channel_acquiring_fsm_S1> reactions;
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channel_idle_fsm_S0(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_Idle_S0 " << std::endl;
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}
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};
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struct channel_acquiring_fsm_S1: public sc::state<channel_acquiring_fsm_S1, ChannelFsm>
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{
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public:
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typedef mpl::list<sc::transition<Ev_channel_failed_acquisition_no_repeat, channel_waiting_fsm_S3>,
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sc::transition<Ev_channel_failed_acquisition_repeat, channel_acquiring_fsm_S1>,
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sc::transition<Ev_channel_valid_acquisition, channel_tracking_fsm_S2> > reactions;
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channel_acquiring_fsm_S1(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_Acq_S1 " << std::endl;
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context<ChannelFsm> ().start_acquisition();
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}
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};
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struct channel_tracking_fsm_S2: public sc::state<channel_tracking_fsm_S2, ChannelFsm>
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{
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public:
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typedef mpl::list<sc::transition<Ev_channel_failed_tracking_standby, channel_idle_fsm_S0>,
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sc::transition<Ev_channel_start_acquisition, channel_acquiring_fsm_S1>> reactions;
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channel_tracking_fsm_S2(my_context ctx) : my_base(ctx)
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{
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2016-04-15 14:33:41 +00:00
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//std::cout << "Enter Channel_tracking_S2 " << std::endl;
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2015-05-21 09:29:56 +00:00
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context<ChannelFsm> ().start_tracking();
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}
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2016-04-15 14:33:41 +00:00
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~channel_tracking_fsm_S2()
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{
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//std::cout << "Exit Channel_tracking_S2 " << std::endl;
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context<ChannelFsm> ().notify_stop_tracking();
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}
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2015-05-21 09:29:56 +00:00
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};
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struct channel_waiting_fsm_S3: public sc::state<channel_waiting_fsm_S3, ChannelFsm>
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{
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public:
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typedef sc::transition<Ev_channel_start_acquisition,
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channel_acquiring_fsm_S1> reactions;
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channel_waiting_fsm_S3(my_context ctx) :
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my_base(ctx)
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{
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//std::cout << "Enter Channel_waiting_S3 " << std::endl;
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context<ChannelFsm> ().request_satellite();
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}
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2015-05-22 16:30:21 +00:00
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// ~channel_waiting_fsm_S3(){}
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2015-05-21 09:29:56 +00:00
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};
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ChannelFsm::ChannelFsm()
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{
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acq_ = nullptr;
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trk_ = nullptr;
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channel_ = 0;
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initiate(); //start the FSM
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}
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ChannelFsm::ChannelFsm(AcquisitionInterface *acquisition) :
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acq_(acquisition)
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{
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trk_ = nullptr;
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channel_ = 0;
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initiate(); //start the FSM
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}
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void ChannelFsm::Event_start_acquisition()
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{
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this->process_event(Ev_channel_start_acquisition());
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}
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void ChannelFsm::Event_valid_acquisition()
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{
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this->process_event(Ev_channel_valid_acquisition());
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}
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void ChannelFsm::Event_failed_acquisition_repeat()
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{
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this->process_event(Ev_channel_failed_acquisition_repeat());
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}
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void ChannelFsm::Event_failed_acquisition_no_repeat()
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{
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this->process_event(Ev_channel_failed_acquisition_no_repeat());
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}
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// Something is wrong here, we are using a memory after it ts freed
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void ChannelFsm::Event_failed_tracking_standby()
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{
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this->process_event(Ev_channel_failed_tracking_standby());
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}
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//void ChannelFsm::Event_failed_tracking_reacq() {
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// this->process_event(Ev_channel_failed_tracking_reacq());
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//}
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void ChannelFsm::set_acquisition(AcquisitionInterface *acquisition)
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{
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acq_ = acquisition;
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}
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void ChannelFsm::set_tracking(TrackingInterface *tracking)
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{
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trk_ = tracking;
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}
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void ChannelFsm::set_queue(boost::shared_ptr<gr::msg_queue> queue)
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{
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queue_ = queue;
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}
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void ChannelFsm::set_channel(unsigned int channel)
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{
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channel_ = channel;
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}
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void ChannelFsm::start_acquisition()
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{
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acq_->reset();
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}
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void ChannelFsm::start_tracking()
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{
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//LOG_AT_LEVEL(INFO) << "Channel " << channel_
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//<< " passing prn code phase " << acq_->prn_code_phase();
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//LOG_AT_LEVEL(INFO) << "Channel " << channel_
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//<< " passing doppler freq shift " << acq_->doppler_freq_shift();
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//LOG_AT_LEVEL(INFO) << "Channel " << channel_
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//<< " passing acquisition sample stamp "
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//<< acq_->get_sample_stamp();
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//trk_->set_prn_code_phase(acq_->prn_code_phase());
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//trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
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//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
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trk_->start_tracking();
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std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
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if (queue_ != gr::msg_queue::make())
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{
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queue_->handle(cmf->GetQueueMessage(channel_, 1));
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}
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}
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void ChannelFsm::request_satellite()
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{
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std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
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if (queue_ != gr::msg_queue::make())
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{
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queue_->handle(cmf->GetQueueMessage(channel_, 0));
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}
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}
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2016-04-15 14:33:41 +00:00
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void ChannelFsm::notify_stop_tracking()
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{
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std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
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if (queue_ != gr::msg_queue::make())
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{
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queue_->handle(cmf->GetQueueMessage(channel_, 2));
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}
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}
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