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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 04:00:34 +00:00
Improvements to gnss_flowgraph
1) Fixed a bug in gnss_signal::compare The signal string comparison was not correct. 2) Fix for gnss_flowgraph when satellites are specified 3) Better handling of acquisition in flow graph Now PRNs are alternated amongst channels, so we don't get 'stuck' on a particular PRN, and we don't miss out on PRNs that are assigned to channels that come after a channel that is always in the acquisition state. 4) Added SYS.prns to config file. Now we can specify which PRNs are available in the configuration, rather than re-compiling. Particularly useful for debugging, or experimenting with files where you already know which signals are present
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@ -43,6 +43,8 @@
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#include "gnss_block_interface.h"
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#include "channel_interface.h"
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#include "gnss_block_factory.h"
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#include <boost/tokenizer.hpp>
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#include <algorithm>
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#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
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@ -313,12 +315,12 @@ void GNSSFlowgraph::connect()
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}
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channels_.at(i)->set_signal(available_GNSS_signals_.front());
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LOG(INFO) << "Channel " << i << " assigned to " << available_GNSS_signals_.front();
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available_GNSS_signals_.pop_front();
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channels_.at(i)->start();
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if (channels_state_[i] == 1)
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{
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channels_.at(i)->start_acquisition();
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available_GNSS_signals_.pop_front();
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LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
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}
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else
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@ -413,13 +415,20 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
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LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite();
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channels_state_[who] = 2;
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acq_channels_count_--;
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if (acq_channels_count_ < max_acq_channels_)
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if (!available_GNSS_signals_.empty() && acq_channels_count_ < max_acq_channels_)
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{
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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if (channels_state_[i] == 0)
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{
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channels_state_[i] = 1;
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while (channels_.at(i)->get_signal().get_signal_str().compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
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{
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available_GNSS_signals_.push_back(available_GNSS_signals_.front());
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available_GNSS_signals_.pop_front();
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}
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channels_.at(i)->set_signal(available_GNSS_signals_.front());
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available_GNSS_signals_.pop_front();
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acq_channels_count_++;
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channels_.at(i)->start_acquisition();
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break;
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@ -442,6 +451,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
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{
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channels_state_[who] = 0;
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channels_.at(who)->standby();
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available_GNSS_signals_.push_back( channels_.at(who)->get_signal() );
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}
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// for (unsigned int i = 0; i < channels_count_; i++)
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@ -593,8 +603,55 @@ void GNSSFlowgraph::set_signals_list()
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11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
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29, 30, 31, 32, 33, 34, 35, 36};
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std::string sv_list = configuration_->property("Galileo.prns", std::string("") );
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if( sv_list.length() > 0 )
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{
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// Reset the available prns:
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std::set< unsigned int > tmp_set;
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boost::tokenizer<> tok( sv_list );
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std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
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boost::lexical_cast<unsigned int, std::string> );
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if( tmp_set.size() > 0 )
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{
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available_galileo_prn = tmp_set;
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}
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}
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sv_list = configuration_->property("GPS.prns", std::string("") );
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if( sv_list.length() > 0 )
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{
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// Reset the available prns:
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std::set< unsigned int > tmp_set;
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boost::tokenizer<> tok( sv_list );
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std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
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boost::lexical_cast<unsigned int, std::string> );
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if( tmp_set.size() > 0 )
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{
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available_gps_prn = tmp_set;
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}
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}
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sv_list = configuration_->property("SBAS.prns", std::string("") );
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if( sv_list.length() > 0 )
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{
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// Reset the available prns:
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std::set< unsigned int > tmp_set;
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boost::tokenizer<> tok( sv_list );
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std::transform( tok.begin(), tok.end(), std::inserter( tmp_set, tmp_set.begin() ),
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boost::lexical_cast<unsigned int, std::string> );
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if( tmp_set.size() > 0 )
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{
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available_sbas_prn = tmp_set;
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}
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}
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if ((configuration_->property("Channels_1C.count", 0) > 0) or (default_system.find(std::string("GPS")) != std::string::npos) or (default_signal.compare("1C") == 0) or (configuration_->property("Channels_GPS.count", 0) > 0) )
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{
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/*
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@ -691,8 +748,16 @@ void GNSSFlowgraph::set_signals_list()
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}
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else
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{
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Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, gnss_it->get_satellite().get_PRN()), gnss_signal);
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Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, ( sat != 0 ? sat : gnss_it->get_satellite().get_PRN())), gnss_signal);
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if( gnss_it == available_GNSS_signals_.begin() )
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{
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available_GNSS_signals_.remove(signal_value);
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gnss_it = available_GNSS_signals_.begin();
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}
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else
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{
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available_GNSS_signals_.remove(signal_value);
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}
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available_GNSS_signals_.insert(gnss_it, signal_value);
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}
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}
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@ -73,7 +73,7 @@ bool operator==(const Gnss_Signal &sig1, const Gnss_Signal &sig2)
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if (sig1.get_satellite() == sig2.get_satellite())
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{
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if (sig1.get_signal_str().compare(sig1.get_signal_str()))
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if (sig1.get_signal_str().compare(sig1.get_signal_str())==0)
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{
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equal = true;
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}
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