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

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/*!
* \file gnss_flowgraph.cc
2018-04-20 11:20:10 +00:00
* \brief Implementation of a GNSS receiver flow graph
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
* Javier Arribas, 2018. javiarribas(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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
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* (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/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_flowgraph.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "channel.h"
#include "channel_fsm.h"
#include "channel_interface.h"
#include "configuration_interface.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_satellite.h"
#include "gnss_synchro_monitor.h"
#include <boost/lexical_cast.hpp> // for boost::lexical_cast
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <boost/tokenizer.hpp> // for boost::tokenizer
#include <glog/logging.h> // for LOG
#include <gnuradio/basic_block.h> // for basic_block
#include <gnuradio/filter/firdes.h> // for gr::filter::firdes
#include <gnuradio/io_signature.h> // for io_signature
#include <gnuradio/top_block.h> // for top_block, make_top_block
#include <pmt/pmt_sugar.h> // for mp
#include <algorithm> // for transform, sort, unique
#include <cmath> // for floor
#include <cstddef> // for size_t
#include <exception> // for exception
#include <iostream> // for operator<<
#include <iterator> // for insert_iterator, inserter
#include <set> // for set
#include <stdexcept> // for invalid_argument
#include <thread> // for thread
#include <utility> // for move
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h>
#endif
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
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GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr queue) // NOLINT(performance-unnecessary-value-param)
{
connected_ = false;
running_ = false;
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configuration_ = std::move(configuration);
queue_ = queue;
init();
}
GNSSFlowgraph::~GNSSFlowgraph()
{
if (connected_)
{
GNSSFlowgraph::disconnect();
}
}
void GNSSFlowgraph::start()
{
if (running_)
{
LOG(WARNING) << "Already running";
return;
}
try
{
top_block_->start();
}
catch (const std::exception& e)
{
LOG(WARNING) << "Unable to start flowgraph";
LOG(ERROR) << e.what();
return;
}
running_ = true;
}
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void GNSSFlowgraph::stop()
{
top_block_->stop();
running_ = false;
}
void GNSSFlowgraph::connect()
{
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// Connects the blocks in the flow graph
// Signal Source > Signal conditioner >> Channels >> Observables >> PVT
LOG(INFO) << "Connecting flowgraph";
if (connected_)
{
LOG(WARNING) << "flowgraph already connected";
return;
}
#ifndef ENABLE_FPGA
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for (int i = 0; i < sources_count_; i++)
{
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if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
{
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try
{
sig_source_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't connect signal source block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
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}
// Signal Source > Signal conditioner >
for (unsigned int i = 0; i < sig_conditioner_.size(); i++)
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{
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if (configuration_->property(sig_conditioner_.at(i)->role() + ".enable_FPGA", false) == false)
{
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try
{
sig_conditioner_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't connect signal conditioner block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
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}
#endif
for (unsigned int i = 0; i < channels_count_; i++)
{
try
{
channels_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect channel " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
try
{
observables_->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect observables block internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal Source > Signal conditioner >> Channels >> Observables > PVT
try
{
pvt_->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect PVT block internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "blocks connected internally";
// Signal Source (i) > Signal conditioner (i) >
#ifndef ENABLE_FPGA
int RF_Channels = 0;
int signal_conditioner_ID = 0;
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for (int i = 0; i < sources_count_; i++)
{
try
{
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// TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
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{
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// Multichannel Array
std::cout << "ARRAY MODE" << std::endl;
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
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{
std::cout << "connecting ch " << j << std::endl;
top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
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}
}
else
{
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// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
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// Connect the multichannel signal source to multiple signal conditioners
// GNURADIO max_streams=-1 means infinite ports!
DLOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
DLOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
signal_conditioner_ID++;
}
}
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
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}
}
DLOG(INFO) << "Signal source connected to signal conditioner";
#endif
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#if ENABLE_FPGA
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
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{
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// connect the signal source to sample counter
// connect the sample counter to Observables
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try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
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int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
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top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception& e)
{
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LOG(WARNING) << "Can't connect sample counter";
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LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
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}
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else
{
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// create a hardware-defined gnss_synchro pulse for the observables block
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try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
top_block_->connect(ch_out_fpga_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect FPGA sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
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}
#else
// connect the signal source to sample counter
// connect the sample counter to Observables
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try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
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top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
#endif
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// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
std::vector<bool> signal_conditioner_connected;
for (size_t n = 0; n < sig_conditioner_.size(); n++)
{
signal_conditioner_connected.push_back(false);
}
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for (unsigned int i = 0; i < channels_count_; i++)
{
#ifndef ENABLE_FPGA
int selected_signal_conditioner_ID = 0;
bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
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{
try
{
selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
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try
{
// Enable automatic resampler for the acquisition, if required
if (use_acq_resampler == true)
{
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// create acquisition resamplers if required
double resampler_ratio = 1.0;
double acq_fs = fs;
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// find the signal associated to this channel
switch (mapStringValues_[channels_.at(i)->implementation()])
{
case evGPS_1C:
acq_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGPS_2S:
acq_fs = GPS_L2C_OPT_ACQ_FS_HZ;
break;
case evGPS_L5:
acq_fs = GPS_L5_OPT_ACQ_FS_HZ;
break;
case evSBAS_1C:
acq_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGAL_1B:
acq_fs = GALILEO_E1_OPT_ACQ_FS_HZ;
break;
case evGAL_5X:
acq_fs = GALILEO_E5A_OPT_ACQ_FS_HZ;
break;
case evGLO_1G:
acq_fs = fs;
break;
case evGLO_2G:
acq_fs = fs;
break;
case evBDS_B1:
acq_fs = fs;
break;
case evBDS_B3:
acq_fs = fs;
break;
}
if (acq_fs < fs)
{
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// check if the resampler is already created for the channel system/signal and for the specific RF Channel
std::string map_key = channels_.at(i)->implementation() + std::to_string(selected_signal_conditioner_ID);
resampler_ratio = static_cast<double>(fs) / acq_fs;
int decimation = floor(resampler_ratio);
while (fs % decimation > 0)
{
decimation--;
};
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double acq_fs = static_cast<double>(fs) / static_cast<double>(decimation);
if (decimation > 1)
{
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// create a FIR low pass filter
std::vector<float> taps;
// float beta = 7.0;
// float halfband = 0.5;
// float fractional_bw = 0.4;
// float rate = 1.0 / static_cast<float>(decimation);
//
// float trans_width = rate * (halfband - fractional_bw);
// float mid_transition_band = rate * halfband - trans_width / 2.0;
//
// taps = gr::filter::firdes::low_pass(1.0,
// 1.0,
// mid_transition_band,
// trans_width,
// gr::filter::firdes::win_type::WIN_KAISER,
// beta);
taps = gr::filter::firdes::low_pass(1.0,
fs,
acq_fs / 2.1,
acq_fs / 2,
gr::filter::firdes::win_type::WIN_HAMMING);
gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
std::pair<std::map<std::string, gr::basic_block_sptr>::iterator, bool> ret;
ret = acq_resamplers_.insert(std::pair<std::string, gr::basic_block_sptr>(map_key, fir_filter_ccf_));
if (ret.second == true)
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
acq_resamplers_.at(map_key), 0);
LOG(INFO) << "Created "
<< channels_.at(i)->implementation()
<< " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
}
else
{
LOG(INFO) << "Found existing "
<< channels_.at(i)->implementation()
<< " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
}
top_block_->connect(acq_resamplers_.at(map_key), 0,
channels_.at(i)->get_left_block_acq(), 0);
std::shared_ptr<Channel> channel_ptr;
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
channel_ptr->acquisition()->set_resampler_latency((taps.size() - 1) / 2);
}
else
{
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
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// resampler not required!
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
}
}
else
{
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
}
}
else
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
}
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
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}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
signal_conditioner_connected.at(selected_signal_conditioner_ID) = true; //notify that this signal conditioner is connected
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DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
}
#endif
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
top_block_->connect(channels_.at(i)->get_right_block(), 0,
observables_->get_left_block(), i);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect channel " << i << " to observables";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
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//check for unconnected signal conditioners and connect null_sinks in order to provide configuration flexibility to multiband files or signal sources
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
{
for (size_t n = 0; n < sig_conditioner_.size(); n++)
{
if (signal_conditioner_connected.at(n) == false)
{
null_sinks_.push_back(gr::blocks::null_sink::make(sizeof(gr_complex)));
top_block_->connect(sig_conditioner_.at(n)->get_right_block(), 0,
null_sinks_.back(), 0);
LOG(INFO) << "Null sink connected to signal conditioner " << n << " due to lack of connection to any channel" << std::endl;
}
}
}
// Put channels fixed to a given satellite at the beginning of the vector, then the rest
std::vector<unsigned int> vector_of_channels;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int sat = 0;
try
{
sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if (sat == 0)
{
vector_of_channels.push_back(i);
}
else
{
auto it = vector_of_channels.begin();
it = vector_of_channels.insert(it, i);
}
}
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// Assign satellites to channels in the initialization
for (unsigned int& i : vector_of_channels)
{
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
unsigned int sat = 0;
try
{
sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if (sat == 0)
{
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false));
}
else
{
std::string gnss_system;
Gnss_Signal signal_value;
switch (mapStringValues_[gnss_signal])
{
case evGPS_1C:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
break;
case evGPS_2S:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_2S_signals_.remove(signal_value);
break;
case evGPS_L5:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_L5_signals_.remove(signal_value);
break;
case evGAL_1B:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_1B_signals_.remove(signal_value);
break;
case evGAL_5X:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_5X_signals_.remove(signal_value);
break;
case evGLO_1G:
gnss_system = "Glonass";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GLO_1G_signals_.remove(signal_value);
break;
case evGLO_2G:
gnss_system = "Glonass";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GLO_2G_signals_.remove(signal_value);
break;
case evBDS_B1:
gnss_system = "Beidou";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_BDS_B1_signals_.remove(signal_value);
break;
case evBDS_B3:
gnss_system = "Beidou";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_BDS_B3_signals_.remove(signal_value);
break;
default:
LOG(ERROR) << "This should not happen :-(";
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
break;
}
channels_.at(i)->set_signal(signal_value);
}
}
2015-02-27 17:21:25 +00:00
// Connect the observables output of each channel to the PVT block
try
{
for (unsigned int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
2016-05-02 21:46:30 +00:00
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
}
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect observables to PVT";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// GNSS SYNCHRO MONITOR
if (enable_monitor_)
{
try
{
for (unsigned int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
}
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect observables to Monitor block";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
#ifndef ENABLE_FPGA
// Activate acquisition in enabled channels
for (unsigned int i = 0; i < channels_count_; i++)
{
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
}
#endif
connected_ = true;
LOG(INFO) << "Flowgraph connected";
top_block_->dump();
}
void GNSSFlowgraph::disconnect()
{
LOG(INFO) << "Disconnecting flowgraph";
if (!connected_)
{
LOG(INFO) << "flowgraph was not connected";
return;
}
connected_ = false;
// Signal Source (i) > Signal conditioner (i) >
int RF_Channels = 0;
int signal_conditioner_ID = 0;
#ifdef ENABLE_FPGA
2019-02-27 14:51:01 +00:00
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
{
for (int i = 0; i < sources_count_; i++)
{
try
{
// TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{
2019-03-18 18:50:02 +00:00
// Multichannel Array
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
}
}
else
{
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
signal_conditioner_ID++;
}
}
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
top_block_->disconnect_all();
return;
}
}
}
#else
for (int i = 0; i < sources_count_; i++)
{
try
{
// TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
2018-12-02 21:53:05 +00:00
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{
//Multichannel Array
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
}
}
else
{
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
signal_conditioner_ID++;
}
}
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
top_block_->disconnect_all();
return;
}
}
#endif
#ifdef ENABLE_FPGA
2019-02-27 14:51:01 +00:00
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
{
// disconnect the signal source to sample counter
// disconnect the sample counter to Observables
try
{
top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->disconnect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't disconnect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
else
{
try
{
top_block_->disconnect(ch_out_fpga_sample_counter, 0, observables_->get_left_block(), channels_count_);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect FPGA sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
#else
// disconnect the signal source to sample counter
// disconnect the sample counter to Observables
try
{
top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->disconnect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
#endif
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
for (unsigned int i = 0; i < channels_count_; i++)
{
2019-03-02 10:48:25 +00:00
#ifndef ENABLE_FPGA
int selected_signal_conditioner_ID;
try
{
selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
top_block_->disconnect_all();
return;
}
try
{
top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i << ": " << e.what();
top_block_->disconnect_all();
return;
}
#endif
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
top_block_->disconnect(channels_.at(i)->get_right_block(), 0,
observables_->get_left_block(), i);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect channel " << i << " to observables: " << e.what();
top_block_->disconnect_all();
return;
}
}
try
{
for (unsigned int i = 0; i < channels_count_; i++)
{
top_block_->disconnect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
2019-02-14 15:46:16 +00:00
if (enable_monitor_)
{
top_block_->disconnect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
}
top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
}
top_block_->msg_disconnect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect observables to PVT: " << e.what();
top_block_->disconnect_all();
return;
}
for (int i = 0; i < sources_count_; i++)
{
try
{
sig_source_.at(i)->disconnect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect signal source block " << i << " internally: " << e.what();
top_block_->disconnect_all();
return;
}
}
// Signal Source > Signal conditioner >
for (unsigned int i = 0; i < sig_conditioner_.size(); i++)
{
try
{
sig_conditioner_.at(i)->disconnect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect signal conditioner block " << i << " internally: " << e.what();
top_block_->disconnect_all();
return;
}
}
for (unsigned int i = 0; i < channels_count_; i++)
{
try
{
channels_.at(i)->disconnect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect channel " << i << " internally: " << e.what();
top_block_->disconnect_all();
return;
}
}
try
{
observables_->disconnect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect observables block internally: " << e.what();
top_block_->disconnect_all();
return;
}
// Signal Source > Signal conditioner >> Channels >> Observables > PVT
try
{
pvt_->disconnect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect PVT block internally: " << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "blocks disconnected internally";
LOG(INFO) << "Flowgraph disconnected";
}
void GNSSFlowgraph::wait()
{
if (!running_)
{
LOG(WARNING) << "Can't apply wait. Flowgraph is not running";
return;
}
top_block_->wait();
DLOG(INFO) << "Flowgraph finished calculations";
running_ = false;
}
bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
{
2018-10-05 11:54:35 +00:00
// Push ephemeris to PVT telemetry msg in port using a channel out port
// it uses the first channel as a message producer (it is already connected to PVT)
channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
return true;
}
/*
2018-04-20 11:20:10 +00:00
* Applies an action to the flow graph
*
* \param[in] who Who generated the action:
* -> 0-199 are the channels IDs
* -> 200 is the control_thread dispatched by the control_thread apply_action
* -> 300 is the telecommand system (TC) for receiver control
* -> 400 - 599 is the TC channel control for channels 0-199
* \param[in] what What is the action:
* --- actions from channels ---
* -> 0 acquisition failed
* -> 1 acquisition succesfull
* -> 2 tracking lost
* --- actions from TC receiver control ---
* -> 10 TC request standby mode
* -> 11 TC request coldstart
* -> 12 TC request hotstart
* -> 13 TC request warmstart
* --- actions from TC channel control ---
* -> 20 stop channel
* -> 21 start channel
*/
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
2018-10-05 11:54:35 +00:00
std::lock_guard<std::mutex> lock(signal_list_mutex);
2017-12-20 15:12:08 +00:00
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
unsigned int sat = 0;
if (who < 200)
{
try
{
sat = configuration_->property("Channel" + std::to_string(who) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
}
switch (what)
{
case 0:
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
if (sat == 0)
{
2018-10-25 14:48:19 +00:00
Gnss_Signal gs = channels_[who]->get_signal();
switch (mapStringValues_[gs.get_signal_str()])
{
case evGPS_1C:
2018-10-25 14:48:19 +00:00
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_back(gs);
break;
case evGPS_2S:
2018-10-25 14:48:19 +00:00
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_back(gs);
break;
case evGPS_L5:
2018-10-25 14:48:19 +00:00
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_back(gs);
break;
case evGAL_1B:
2018-10-25 14:48:19 +00:00
available_GAL_1B_signals_.remove(gs);
available_GAL_1B_signals_.push_back(gs);
break;
case evGAL_5X:
2018-10-25 14:48:19 +00:00
available_GAL_5X_signals_.remove(gs);
available_GAL_5X_signals_.push_back(gs);
break;
case evGLO_1G:
2018-10-25 14:48:19 +00:00
available_GLO_1G_signals_.remove(gs);
available_GLO_1G_signals_.push_back(gs);
break;
case evGLO_2G:
2018-10-25 14:48:19 +00:00
available_GLO_2G_signals_.remove(gs);
available_GLO_2G_signals_.push_back(gs);
break;
case evBDS_B1:
2019-03-18 07:43:38 +00:00
available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_back(gs);
break;
case evBDS_B3:
2019-03-18 07:43:38 +00:00
available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_back(gs);
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
2019-03-18 07:43:38 +00:00
}
}
channels_state_[who] = 0;
acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
break;
case 1:
LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite();
// If the satellite is in the list of available ones, remove it.
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.remove(channels_[who]->get_signal());
break;
case evGPS_2S:
available_GPS_2S_signals_.remove(channels_[who]->get_signal());
break;
case evGPS_L5:
available_GPS_L5_signals_.remove(channels_[who]->get_signal());
break;
case evGAL_1B:
available_GAL_1B_signals_.remove(channels_[who]->get_signal());
break;
case evGAL_5X:
available_GAL_5X_signals_.remove(channels_[who]->get_signal());
break;
case evGLO_1G:
available_GLO_1G_signals_.remove(channels_[who]->get_signal());
break;
case evGLO_2G:
available_GLO_2G_signals_.remove(channels_[who]->get_signal());
break;
case evBDS_B1:
available_BDS_B1_signals_.remove(channels_[who]->get_signal());
break;
case evBDS_B3:
available_BDS_B3_signals_.remove(channels_[who]->get_signal());
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
channels_state_[who] = 2;
acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{
channels_state_[i] = 1;
if (sat_ == 0)
{
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true, true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[i]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[i]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
break;
case 2:
LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite();
DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_;
if (acq_channels_count_ < max_acq_channels_)
{
channels_state_[who] = 1;
acq_channels_count_++;
LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[who]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[who]);
tmp_thread.detach();
#endif
}
else
{
channels_state_[who] = 0;
LOG(INFO) << "Channel " << who << " Idle state";
if (sat == 0)
{
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_2S:
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_L5:
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_1B:
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_5X:
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_1G:
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_2G:
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
break;
case evBDS_B1:
available_BDS_B1_signals_.push_back(channels_[who]->get_signal());
break;
case evBDS_B3:
available_BDS_B3_signals_.push_back(channels_[who]->get_signal());
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
}
break;
2018-11-20 20:56:35 +00:00
case 10: // request standby mode
LOG(INFO) << "TC request standby mode";
for (size_t n = 0; n < channels_.size(); n++)
{
if (channels_state_[n] == 1 or channels_state_[n] == 2) //channel in acquisition or in tracking
{
//recover the satellite assigned
Gnss_Signal gs = channels_[n]->get_signal();
switch (mapStringValues_[gs.get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_back(gs);
break;
case evGPS_2S:
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_back(gs);
break;
case evGPS_L5:
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_back(gs);
break;
case evGAL_1B:
available_GAL_1B_signals_.remove(gs);
available_GAL_1B_signals_.push_back(gs);
break;
case evGAL_5X:
available_GAL_5X_signals_.remove(gs);
available_GAL_5X_signals_.push_back(gs);
break;
case evGLO_1G:
available_GLO_1G_signals_.remove(gs);
available_GLO_1G_signals_.push_back(gs);
break;
case evGLO_2G:
available_GLO_2G_signals_.remove(gs);
available_GLO_2G_signals_.push_back(gs);
break;
case evBDS_B1:
available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_back(gs);
break;
case evBDS_B3:
available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_back(gs);
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
2019-03-18 18:50:02 +00:00
channels_[n]->stop_channel(); // stop the acquisition or tracking operation
channels_state_[n] = 0;
}
}
2018-11-20 20:56:35 +00:00
acq_channels_count_ = 0; // all channels are in standby now
break;
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case 11: // request coldstart mode
LOG(INFO) << "TC request flowgraph coldstart";
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// start again the satellite acquisitions
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
break;
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case 12: // request hotstart mode
LOG(INFO) << "TC request flowgraph hotstart";
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
break;
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case 13: // request warmstart mode
LOG(INFO) << "TC request flowgraph warmstart";
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// start again the satellite acquisitions
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
break;
default:
break;
}
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applied_actions_++;
}
void GNSSFlowgraph::priorize_satellites(std::vector<std::pair<int, Gnss_Satellite>> visible_satellites)
{
size_t old_size;
Gnss_Signal gs;
for (auto& visible_satellite : visible_satellites)
{
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if (visible_satellite.second.get_system() == "GPS")
{
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gs = Gnss_Signal(visible_satellite.second, "1C");
old_size = available_GPS_1C_signals_.size();
available_GPS_1C_signals_.remove(gs);
if (old_size > available_GPS_1C_signals_.size())
{
available_GPS_1C_signals_.push_front(gs);
}
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gs = Gnss_Signal(visible_satellite.second, "2S");
old_size = available_GPS_2S_signals_.size();
available_GPS_2S_signals_.remove(gs);
if (old_size > available_GPS_2S_signals_.size())
{
available_GPS_2S_signals_.push_front(gs);
}
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gs = Gnss_Signal(visible_satellite.second, "L5");
old_size = available_GPS_L5_signals_.size();
available_GPS_L5_signals_.remove(gs);
if (old_size > available_GPS_L5_signals_.size())
{
available_GPS_L5_signals_.push_front(gs);
}
}
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else if (visible_satellite.second.get_system() == "Galileo")
{
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gs = Gnss_Signal(visible_satellite.second, "1B");
old_size = available_GAL_1B_signals_.size();
available_GAL_1B_signals_.remove(gs);
if (old_size > available_GAL_1B_signals_.size())
{
available_GAL_1B_signals_.push_front(gs);
}
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gs = Gnss_Signal(visible_satellite.second, "5X");
old_size = available_GAL_5X_signals_.size();
available_GAL_5X_signals_.remove(gs);
if (old_size > available_GAL_5X_signals_.size())
{
available_GAL_5X_signals_.push_front(gs);
}
}
}
}
void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> configuration)
{
if (running_)
{
LOG(WARNING) << "Unable to update configuration while flowgraph running";
return;
}
if (connected_)
{
LOG(WARNING) << "Unable to update configuration while flowgraph connected";
}
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configuration_ = std::move(configuration);
}
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#ifdef ENABLE_FPGA
void GNSSFlowgraph::start_acquisition_helper()
{
for (unsigned int i = 0; i < channels_count_; i++)
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{
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
}
}
}
void GNSSFlowgraph::perform_hw_reset()
{
// a stop acquisition command causes the SW to reset the HW
std::shared_ptr<Channel> channel_ptr;
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
channel_ptr->acquisition()->stop_acquisition();
}
#endif
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void GNSSFlowgraph::init()
{
/*
* Instantiates the receiver blocks
*/
std::unique_ptr<GNSSBlockFactory> block_factory_(new GNSSBlockFactory());
// 1. read the number of RF front-ends available (one file_source per RF front-end)
sources_count_ = configuration_->property("Receiver.sources_count", 1);
int RF_Channels = 0;
int signal_conditioner_ID = 0;
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if (sources_count_ > 1)
{
for (int i = 0; i < sources_count_; i++)
{
std::cout << "Creating source " << i << std::endl;
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sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i));
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// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
std::cout << "RF Channels " << RF_Channels << std::endl;
for (int j = 0; j < RF_Channels; j++)
{
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, signal_conditioner_ID));
signal_conditioner_ID++;
}
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}
}
else
{
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// backwards compatibility for old config files
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sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1));
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// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
if (RF_Channels != 0)
{
for (int j = 0; j < RF_Channels; j++)
{
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, signal_conditioner_ID));
signal_conditioner_ID++;
}
}
else
{
2018-04-20 11:20:10 +00:00
// old config file, single signal source and single channel, not specified
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, -1));
}
}
observables_ = block_factory_->GetObservables(configuration_);
// Mark old implementations as deprecated
std::string default_str("Default");
std::string obs_implementation = configuration_->property("Observables.implementation", default_str);
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if ((obs_implementation == "GPS_L1_CA_Observables") || (obs_implementation == "GPS_L2C_Observables") ||
(obs_implementation == "Galileo_E1B_Observables") || (obs_implementation == "Galileo_E5A_Observables"))
{
std::cout << "WARNING: Implementation '" << obs_implementation << "' of the Observables block has been replaced by 'Hybrid_Observables'." << std::endl;
std::cout << "Please update your configuration file." << std::endl;
}
pvt_ = block_factory_->GetPVT(configuration_);
// Mark old implementations as deprecated
std::string pvt_implementation = configuration_->property("PVT.implementation", default_str);
2018-12-02 21:53:05 +00:00
if ((pvt_implementation == "GPS_L1_CA_PVT") || (pvt_implementation == "Galileo_E1_PVT") || (pvt_implementation == "Hybrid_PVT"))
{
std::cout << "WARNING: Implementation '" << pvt_implementation << "' of the PVT block has been replaced by 'RTKLIB_PVT'." << std::endl;
std::cout << "Please update your configuration file." << std::endl;
}
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
channels_count_ = channels->size();
for (unsigned int i = 0; i < channels_count_; i++)
{
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std::shared_ptr<GNSSBlockInterface> chan_ = std::move(channels->at(i));
channels_.push_back(std::dynamic_pointer_cast<ChannelInterface>(chan_));
}
top_block_ = gr::make_top_block("GNSSFlowgraph");
mapStringValues_["1C"] = evGPS_1C;
mapStringValues_["2S"] = evGPS_2S;
mapStringValues_["L5"] = evGPS_L5;
mapStringValues_["1B"] = evGAL_1B;
mapStringValues_["5X"] = evGAL_5X;
mapStringValues_["1G"] = evGLO_1G;
mapStringValues_["2G"] = evGLO_2G;
mapStringValues_["B1"] = evBDS_B1;
mapStringValues_["B3"] = evBDS_B3;
// fill the signals queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
applied_actions_ = 0;
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
/*
* Instantiate the receiver monitor block, if required
*/
enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
if (configuration_->property("PVT.enable_protobuf", false) == true)
{
enable_protobuf = true;
}
std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
if (enable_monitor_)
{
GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
configuration_->property("Monitor.decimation_factor", 1),
configuration_->property("Monitor.udp_port", 1234),
udp_addr_vec, enable_protobuf);
}
}
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std::vector<std::string> GNSSFlowgraph::split_string(const std::string& s, char delim)
{
std::vector<std::string> v;
std::stringstream ss(s);
std::string item;
while (std::getline(ss, item, delim))
{
*(std::back_inserter(v)++) = item;
}
return v;
}
void GNSSFlowgraph::set_signals_list()
{
// Set a sequential list of GNSS satellites
2017-08-17 09:03:02 +00:00
std::set<unsigned int>::const_iterator available_gnss_prn_iter;
// Create the lists of GNSS satellites
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32};
2015-05-07 14:30:01 +00:00
2018-08-21 14:41:07 +00:00
std::set<unsigned int> available_sbas_prn = {123, 131, 135, 136, 138};
2015-05-08 23:48:16 +00:00
std::set<unsigned int> available_galileo_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32, 33, 34, 35, 36};
2015-05-08 23:48:16 +00:00
// Removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
std::set<unsigned int> available_glonass_prn = {1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 24};
2017-03-29 15:15:57 +00:00
2018-06-15 02:19:32 +00:00
std::set<unsigned int> available_beidou_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
2019-03-18 07:43:38 +00:00
30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49,
50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63};
2018-06-15 02:19:32 +00:00
std::string sv_list = configuration_->property("Galileo.prns", std::string(""));
if (sv_list.length() > 0)
{
2016-05-01 23:28:37 +00:00
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
2016-05-01 23:28:37 +00:00
2019-02-05 00:31:09 +00:00
if (!tmp_set.empty())
2016-05-01 23:28:37 +00:00
{
available_galileo_prn = tmp_set;
}
}
sv_list = configuration_->property("GPS.prns", std::string(""));
2015-05-08 23:48:16 +00:00
if (sv_list.length() > 0)
{
2016-05-01 23:28:37 +00:00
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
2016-05-01 23:28:37 +00:00
2019-02-05 00:31:09 +00:00
if (!tmp_set.empty())
2016-05-01 23:28:37 +00:00
{
available_gps_prn = tmp_set;
}
}
2016-05-01 23:28:37 +00:00
sv_list = configuration_->property("SBAS.prns", std::string(""));
2015-05-08 23:48:16 +00:00
if (sv_list.length() > 0)
{
2016-05-01 23:28:37 +00:00
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
2016-05-01 23:28:37 +00:00
2019-02-05 00:31:09 +00:00
if (!tmp_set.empty())
2016-05-01 23:28:37 +00:00
{
available_sbas_prn = tmp_set;
}
}
2015-05-08 23:48:16 +00:00
sv_list = configuration_->property("Glonass.prns", std::string(""));
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if (sv_list.length() > 0)
2017-03-29 15:15:57 +00:00
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
2017-03-29 15:15:57 +00:00
2019-02-05 00:31:09 +00:00
if (!tmp_set.empty())
2017-03-29 15:15:57 +00:00
{
available_glonass_prn = tmp_set;
}
}
2018-06-15 02:19:32 +00:00
sv_list = configuration_->property("Beidou.prns", std::string(""));
2019-03-18 07:43:38 +00:00
2018-06-15 02:19:32 +00:00
if (sv_list.length() > 0)
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
2019-02-05 00:31:09 +00:00
if (!tmp_set.empty())
2018-06-15 02:19:32 +00:00
{
available_beidou_prn = tmp_set;
}
}
if (configuration_->property("Channels_1C.count", 0) > 0)
{
// Loop to create GPS L1 C/A signals
2017-08-17 09:03:02 +00:00
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GPS_1C_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("1C")));
}
}
if (configuration_->property("Channels_2S.count", 0) > 0)
{
// Loop to create GPS L2C M signals
2017-08-17 09:03:02 +00:00
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GPS_2S_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("2S")));
}
}
2017-11-30 16:42:19 +00:00
if (configuration_->property("Channels_L5.count", 0) > 0)
{
// Loop to create GPS L5 signals
2017-11-30 16:42:19 +00:00
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
2017-11-30 16:42:19 +00:00
{
available_GPS_L5_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("L5")));
2017-11-30 16:42:19 +00:00
}
}
if (configuration_->property("Channels_SBAS.count", 0) > 0)
{
// Loop to create SBAS L1 C/A signals
2017-08-17 09:03:02 +00:00
for (available_gnss_prn_iter = available_sbas_prn.cbegin();
available_gnss_prn_iter != available_sbas_prn.cend();
available_gnss_prn_iter++)
{
available_SBAS_1C_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("SBAS"), *available_gnss_prn_iter),
std::string("1C")));
}
}
if (configuration_->property("Channels_1B.count", 0) > 0)
{
// Loop to create the list of Galileo E1B signals
2017-08-17 09:03:02 +00:00
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
2015-05-07 14:30:01 +00:00
{
available_GAL_1B_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("1B")));
2015-05-07 14:30:01 +00:00
}
}
if (configuration_->property("Channels_5X.count", 0) > 0)
2015-05-07 14:30:01 +00:00
{
// Loop to create the list of Galileo E5a signals
2017-08-17 09:03:02 +00:00
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GAL_5X_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("5X")));
}
}
2017-03-29 15:15:57 +00:00
if (configuration_->property("Channels_1G.count", 0) > 0)
{
// Loop to create the list of GLONASS L1 C/A signals
2018-10-05 11:54:35 +00:00
for (available_gnss_prn_iter = available_glonass_prn.cbegin();
available_gnss_prn_iter != available_glonass_prn.cend();
available_gnss_prn_iter++)
{
available_GLO_1G_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("1G")));
}
}
if (configuration_->property("Channels_2G.count", 0) > 0)
{
// Loop to create the list of GLONASS L2 C/A signals
2018-10-05 11:54:35 +00:00
for (available_gnss_prn_iter = available_glonass_prn.cbegin();
available_gnss_prn_iter != available_glonass_prn.cend();
available_gnss_prn_iter++)
{
available_GLO_2G_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("2G")));
}
}
2018-06-15 02:19:32 +00:00
if (configuration_->property("Channels_B1.count", 0) > 0)
{
/*
* Loop to create the list of BeiDou B1C signals
*/
for (available_gnss_prn_iter = available_beidou_prn.cbegin();
available_gnss_prn_iter != available_beidou_prn.cend();
2018-06-15 02:19:32 +00:00
available_gnss_prn_iter++)
{
available_BDS_B1_signals_.push_back(Gnss_Signal(
2018-06-15 02:19:32 +00:00
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
std::string("B1")));
}
}
if (configuration_->property("Channels_B3.count", 0) > 0)
{
/*
* Loop to create the list of BeiDou B1C signals
*/
for (available_gnss_prn_iter = available_beidou_prn.cbegin();
available_gnss_prn_iter != available_beidou_prn.cend();
available_gnss_prn_iter++)
{
available_BDS_B3_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
std::string("B3")));
}
}
}
void GNSSFlowgraph::set_channels_state()
{
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std::lock_guard<std::mutex> lock(signal_list_mutex);
max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
if (max_acq_channels_ > channels_count_)
{
max_acq_channels_ = channels_count_;
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LOG(WARNING) << "Channels_in_acquisition is bigger than number of channels. Variable acq_channels_count_ is set to " << channels_count_;
}
channels_state_.reserve(channels_count_);
for (unsigned int i = 0; i < channels_count_; i++)
{
if (i < max_acq_channels_)
{
channels_state_.push_back(1);
}
else
{
channels_state_.push_back(0);
}
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DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
acq_channels_count_ = max_acq_channels_;
DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
}
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Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal, bool pop, bool tracked)
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{
Gnss_Signal result;
bool untracked_satellite = true;
switch (mapStringValues_[searched_signal])
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{
case evGPS_1C:
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
if (!pop)
{
available_GPS_1C_signals_.push_back(result);
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}
if (tracked)
{
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1C"))
{
untracked_satellite = false;
}
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_front(gs);
}
}
}
break;
case evGPS_2S:
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
if (!pop)
{
available_GPS_2S_signals_.push_back(result);
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2S"))
{
untracked_satellite = false;
}
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_front(gs);
}
}
}
break;
case evGPS_L5:
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
if (!pop)
{
available_GPS_L5_signals_.push_back(result);
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_2S.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "L5"))
{
untracked_satellite = false;
}
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_front(gs);
}
}
}
break;
case evGAL_1B:
result = available_GAL_1B_signals_.front();
available_GAL_1B_signals_.pop_front();
if (!pop)
{
available_GAL_1B_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_5X.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1B"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
available_GAL_5X_signals_.remove(gs);
available_GAL_5X_signals_.push_front(gs);
}
}
}
break;
case evGAL_5X:
result = available_GAL_5X_signals_.front();
available_GAL_5X_signals_.pop_front();
if (!pop)
{
available_GAL_5X_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_1B.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "5X"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
available_GAL_1B_signals_.remove(gs);
available_GAL_1B_signals_.push_front(gs);
}
}
}
break;
case evGLO_1G:
result = available_GLO_1G_signals_.front();
available_GLO_1G_signals_.pop_front();
if (!pop)
{
available_GLO_1G_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_2G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1G"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
available_GLO_2G_signals_.remove(gs);
available_GLO_2G_signals_.push_front(gs);
}
}
}
break;
case evGLO_2G:
result = available_GLO_2G_signals_.front();
available_GLO_2G_signals_.pop_front();
if (!pop)
{
available_GLO_2G_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_1G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
available_GLO_1G_signals_.remove(gs);
available_GLO_1G_signals_.push_front(gs);
}
}
}
break;
case evBDS_B1:
result = available_BDS_B1_signals_.front();
available_BDS_B1_signals_.pop_front();
if (!pop)
{
available_BDS_B1_signals_.push_back(result);
}
if (tracked)
{
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if (configuration_->property("Channels_B3.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G")) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B3");
available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_front(gs);
}
}
}
break;
case evBDS_B3:
result = available_BDS_B3_signals_.front();
available_BDS_B3_signals_.pop_front();
if (!pop)
{
available_BDS_B3_signals_.push_back(result);
}
if (tracked)
{
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if (configuration_->property("Channels_B1.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G")) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B1");
available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_front(gs);
}
}
}
break;
default:
LOG(ERROR) << "This should not happen :-(";
result = available_GPS_1C_signals_.front();
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if (pop)
{
available_GPS_1C_signals_.pop_front();
}
break;
}
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return result;
}